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This result was obtained by \\textit{F. Bruhat} and \\textit{H. Cartan} in [C. R. Acad. Sci., Paris 244, 988--990 (1957; Zbl 0081.17201)], and \\textit{A. H. Wallace}, [Can. J. Math. 10, 242--278 (1958; Zbl 0081.37803)]. Its current formulation appears in the work of \\textit{J. W. Milnor}, [Singular points of complex hypersurfaces. Princeton, NJ: Princeton University Press (1968; Zbl 0184.48405)]. That classical result states that given a semialgebraic set \\(\\mathcal{S} \\subset \\mathbb{R}^n\\), each point in the closure of \\(\\mathcal{S}\\) can be reached by a Nash arc of \\(\\mathbb{R}^n\\) having at least one of its branches contained in \\(\\mathcal{S}\\).\\N\\NThe generalization in which the author of this article is interested concerns not one point, but finitely many points. He takes \\(r\\) points \\(x_1, \\dots, x_r \\in \\mathcal{S}\\), which he calls control points, and \\(r\\) values, \\(0 = t_1 < \\dots < t_r = 1\\), called control times. Then, the question is the existence of a smooth semialgebraic Nash path \\(\\alpha : [0,1] \\rightarrow \\mathcal{S}\\), such that \\(\\alpha(t_k) = x_k\\) for \\(k = 1, \\dots, r\\). For a large enough number \\(r\\) of control points in general position, the author proves that the existence of \\(\\alpha\\) is equivalent to the fact that \\(\\mathcal{S}\\) be connected by analytical paths.\\N\\NA second problem starts with the existence of a continuous semialgebraic path \\(\\beta : [0,1] \\rightarrow \\mathcal{S}\\) with \\(\\beta(t_i) = x_i\\). The question is then the existence of a Nash path \\(\\alpha\\) such that \\(\\mathrm{dist} (\\alpha(t), \\beta(t)) < \\epsilon\\) for all \\(t \\in [0,1]\\). The conclusion will be that \\(\\beta\\) needs to satisfy some conditions. For instance, it is sufficient that the values at which \\(\\beta\\) is not smooth are regular points of \\(\\mathcal{S}\\), and not control times.\\N\\NThe first problem was already settled by the author, as the Main Theorem 1.4 in [Adv. Math. 331, 627-719 (2018; Zbl 1397.14074)] from which it follows immediately. However, that solution is not constructive, and he is interested here in a different proof not based on that previous result, and acting in a more constructive way. The results on both problems are given in the so-called Main Theorem 1.8, proved along Section 3 of the paper. This proof is shown to be related with the results by the author and \\textit{C. Ueno} in [J. Math. Soc. Japan 75, No. 2, 679-733 (2023; Zbl 1521.14099)], which are constructive up to polynomial approximation of continuous semialgebraic paths.\\N\\NOnce this is done, Section 4 is devoted to the piecewise linear case, in which the semialgebraic sets are the interiors of convex polyhedra of dimension \\(n\\). This leads to the Main Theorem 1.9, the simplified version of Theorem 1.8 for this case, and allows to get a bound on the degrees of the polynomial paths 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