~upd~: Non Holonomic

Imagine a car. It’s restricted by the way its wheels roll—it can only move forward or backward along the direction the wheels are pointing. It cannot "straf" sideways like a crab.

This is the "hard" mode. In these systems, the robot or vehicle has more degrees of freedom in its position than it has in its controls. Essentially, non holonomic

In physics and robotics, a "non-holonomic" constraint is a rule that limits how you move (your velocity) without strictly limiting where you can eventually end up. 🚗 The "Parallel Parking" Paradox Imagine a car