[Koko Ed]

Alot of people's response to this problem reminds me of an exercise we had to do at a workshop that work had us do to advocate thinking outside of the box. They had us put up our hand and the guy would push it. Of course out of reflex we would resist. And he asked us why we resisted? Because it our habit to do so. Sometimes instead of just resiting the forces that are working against you is to loosen your control and work with those forces and allow them to do the steering.
Seems to me what people have the biggest problem here with is being in complete control of their robot and are trying to come up with every possible solution to regain that control when maybe the best solution is to embrace the lack of control and use it to the advantage like the guys who suggest the drifting training. You could waste alot of time and energy otherwise.