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A significant amount of terminology that is appropriate for planning has been developed in the control theory community. In some cases, there are even conflicts with planning terminology. For example, the term motion planning has been used to refer to nonholonomic planning in the absence of obstacles [156,727]. This can be considered as a kind of BVP. In some cases, this form of planning is referred to as the steering problem (see [596,725]) and will be covered in Section 15.5. The term motion planning is reserved in this book for problems that involve obstacle avoidance and possibly other constraints.