Unicycle Robot

Unicycle robots, modeled as nonholonomic systems, are a focus of robotics research aiming to develop robust and safe control algorithms for navigation and manipulation tasks. Current research emphasizes control barrier functions (CBFs) for collision avoidance, often integrated with control Lyapunov functions (CLFs) to guarantee both safety and task completion, and explores distributed control strategies for multi-robot systems. These advancements are significant for improving the autonomy and reliability of mobile robots in complex and dynamic environments, with applications ranging from warehouse logistics to search and rescue operations.