Before revision:  This material is often remains inaccessible to roboticists, and despite many natural generalizations within the mathematical literature, there remain very few applications of modern highly-relevant geometric generalizations such as spray or Finsler geometry .
After revision:  This material is often remains inaccessible to roboticists, and despite many natural generalizations in the mathematical literature---areas such as Finsler geometry and spray geometry---but those generalizations are largely inaccessible, and as a result there remain few applications within robotics .