The Unidirection group is a unidirectional mutex zone group, a combination of graphical elements, including lines, points, and areas. When multiple robots enter the Unidirection group from the same entrance, Unidirection can allow all robots to enter. When multiple robots enter the Unidirection group from different entrances, Unidireciton only allows one robot to enter. For robots already inside the Unidirection group, they are always allowed to move within the Unidirection group.


It is particularly important to note that robots already inside the Unidirection group can move in any direction. Therefore, when a robot's task is cancelled while inside the Unidirection group and a new task is planned, it may cause a deadlock with robots already in the Unidirection group.