Closed Loop Unicycle

Closed-loop unicycle control focuses on developing safe and efficient algorithms for navigating unicycle-like robots, common in mobile robotics, around obstacles. Current research emphasizes accurate motion prediction methods, often employing feedback linearization or adaptive headway control, to ensure collision avoidance and smooth trajectory generation. These advancements rely on analytical models and, increasingly, learned score functions derived from sensor data to provide provably correct and robust path following. The resulting improvements in safety and efficiency have significant implications for the deployment of autonomous mobile robots in complex environments.