Geodesic
An omni-wheel vehicle on a plane and a sphere
Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 785-801.

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We consider a nonholonomic model of the dynamics of an omni-wheel vehicle on a plane and a sphere. An elementary derivation of equations is presented, the dynamics of a free system is investigated, a relation to control problems is shown.
Keywords: omni-wheel, roller-bearing wheel, nonholonomic constraint, dynamical system, invariant measure, integrability, controllability. 
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A. V. Borisov; A. A. Kilin; I. S. Mamaev. An omni-wheel vehicle on a plane and a sphere. Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 785-801. http://geodesic.mathdoc.fr/item/ND_2011_7_4_a3/

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