Nonholonomic Constraint

Nonholonomic constraints describe limitations on the motion of systems, such as wheeled robots, where certain velocities are impossible despite having control over other aspects of motion. Current research focuses on developing accurate dynamic models that account for factors like wheel slippage and friction, and on designing control algorithms, including model predictive control and those based on velocity obstacles and barrier functions, to achieve desired maneuvers while respecting these constraints. This work is crucial for improving the performance and safety of robots in various applications, from autonomous navigation and object manipulation to assistive technologies and aerial surveillance.