Complexity of control-affine motion planning

In this paper we study the complexity of the motion planning problem for controlaffine systems. Such complexities are already defined and rather well understood in the particular case of nonholonomic (or sub-Riemannian) systems. Our aim is to generalize these notions and results to systems with a drift. Accordingly, we present various definitions of complexity, as functions of the curve that is approximated, and of the precision of the approximation. Due to the lack of timerescaling invariance of these systems, we consider geometric and parametrized curves separately. Then, we give some asymptotic estimates for these quantities. As a byproduct, we are able to treat the long time local controllability problem, giving quantitative estimates on the cost of stabilizing the system near a nonequilibrium point of the drift.