Key points are not available for this paper at this time.
A human diver in the air is an example of a nonholonomic system with drift. In this paper, the authors present a dynamic model of the diver performing planar dives and examine a simple learning approach to the control problem. Finally, the authors present a proposal for a general, hierarchical, learning controller for systems with many degrees of freedom.
Crawford et al. (2002) studied this question.