We study stochastically perturbed non-holonomic systems from a geometric point of view. In this setting, it turns out that the probabilistic properties of the perturbed system are intimately linked to the geometry of the constraint distribution. For $G$-Chaplygin systems, this yields a stochastic criterion for the existence of a smooth preserved measure. As an application of our results we consider the motion planning problem for the noisy two-wheeled robot and the noisy snakeboard.

In this note we focus attention on characterizations of policies maximizing growth rate of expected utility, along with average of the associated certainty equivalent, in risk-sensitive Markov decision chains with finite state and action spaces. In contrast to the existing literature the problem is handled by methods of stochastic dynamic programming on condition that the transition probabilities are replaced by general nonnegative matrices. Using the block-triangular decomposition of a collection...