For mechanical systems in which dynamics is considered, the steering
problem becomes complicated by drift. One recent approach is based on
establishing that a system is *kinematically controllable*, which
means that the system is STLC on the C-space, if traversed using trajectories
that start and stop at zero velocity states [157]. The
method finds *decoupling vector fields* on the C-space. Any path
that is the integral curve of a decoupling vector field in the C-space
is executable by the full system with dynamics. If a mechanical
system admits such vector fields, then it was proved in
[157] that a steering method for can be lifted into one
for , the phase space of the mechanical system. This idea was
applied to generate an efficient LPM in
an RRT planner in [224].

Steven M LaValle 2012-04-20