Non Holonomic

Non-holonomic systems describe mechanical systems subject to velocity-dependent constraints, limiting their instantaneous movement directions. Current research focuses on developing efficient and robust control strategies for such systems, particularly for mobile robots, often employing techniques like model predictive control (MPC), invariant Kalman filtering, and reinforcement learning to address challenges like path planning, obstacle avoidance, and formation control in complex environments. These advancements are crucial for improving the autonomy and capabilities of robots in various applications, from warehouse logistics and autonomous driving to swarm robotics and collaborative manipulation.