Intrinsic random walks in Riemannian and sub-Riemannian geometry via volume sampling Andrei Agrachev, Ugo Boscain, Robert Neel and Luca Rizzi ESAIM: COCV, 24 3 (2018) 1075-1105 Published online: 11 July 2018 DOI: 10.1051/cocv/2017037