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Impact of control representations on efficiency of local nonholonomic motion planning In this paper various control representations selected from a family of harmonic controls were examined for the task of locally optimal motion planning of nonholonomic systems. To avoid dependence of results either on a particular system or a current point in a state space, considerations were carried out in a sub-space of a formal Lie algebra associated with a family of controlled systems. Analytical anddoi:10.2478/v10175-011-0026-x fatcat:ykhv7p633bdg7bnvchix6ewtku