The point stabilization problem can be formulated in a local or in a global sense, the latter meaning that we allow for initial congurations that are arbi- trarily far from the destination. The same is true also for path following and trajectory tracking, although locality has two di erent meanings in these tasks. For path following, a local solution means that the controller works properly provided we start su ciently close to the path; for trajectory tracking, close- ness should be evaluated with respect to the current position of the reference robot
