Nonholonomic System

Nonholonomic systems, characterized by constraints that limit velocities but not positions, are a significant area of robotics research focused on controlling systems like wheeled robots and mobile manipulators. Current research emphasizes developing robust control algorithms, including model predictive control (MPC) and control barrier functions (CBFs), often incorporating machine learning techniques to handle uncertainties and improve efficiency in complex environments. This work is crucial for advancing autonomous navigation, particularly in applications requiring safe and efficient maneuvering in cluttered or dynamic spaces, such as warehouse automation, assistive robotics, and multi-robot coordination.