Driftless nonholonomic systems are described by the equation $$ \dot q = \sum\limits_{i = 1}^m {g_i \left( q \right)u_i } dim q = n > m = \dim u, $$ where q is a configuration, g i, i = 1 . . ., m are real analytical vector fields, called generators later on, and u is a vector of controls. The class of admissible controls steering the system (4.1) is composed of square integrable functions defined on the interval [0,T], u (·) ∈ L m 2 [0,T], where time horizon T > 0 is fixed. Systems (4.1) are encountered in robotics while modeling, at the kinematic level, underactuated manipulators, floating space robots, underwater vehicles or mobile nonholonomic robots.