It is natural to search for solution formulas for x(t) = x(t, u) that, separate the time-dependent contributions of the controls u from the invariant, geometric role of the vector fields fk. Ideally, one may be able to a-priori obtain closed-form expressions for the flows of certain vector fields. The quadratures of the control might be done in real-time, or the integrals of the controls may be...