Geodesic
Free and controlled motions of an omniwheel vehicle
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 6 (2008), pp. 61-65

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     title = {Free and controlled motions of an omniwheel vehicle},
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A. A. Zobova; Ya. V. Tatarinov. Free and controlled motions of an omniwheel vehicle. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 6 (2008), pp. 61-65. http://geodesic.mathdoc.fr/item/VMUMM_2008_6_a10/