Before revision:  In particular, we recover and extend the results that Bernstein et al. (2000) , developed in the context of manifold learning, and those of Karaman and Frazzoli (2011), developed in the context of robotics .
After revision:  In particular, we recover and extend the results of Bernstein et al. (2000) , developed in the context of manifold learning, and those of Karaman and Frazzoli (2011), developed in the context of robotics .