@article{ND_2011_7_4_a3,
     author = {A. V. Borisov and A. A. Kilin and I. S. Mamaev},
     title = {An omni-wheel vehicle on a plane and a sphere},
     journal = {Russian journal of nonlinear dynamics},
     pages = {785--801},
     publisher = {mathdoc},
     volume = {7},
     number = {4},
     year = {2011},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2011_7_4_a3/}
}