Geodesic
Mobile robots with two independent coaxial drive wheels: Dynamics and the schemes of control
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2009), pp. 44-50

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     author = {V. E. Pavlovskii and V. V. Evgrafov and N. V. Petrovskaya},
     title = {Mobile robots with two independent coaxial drive wheels: {Dynamics} and the schemes of control},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {44--50},
     publisher = {mathdoc},
     number = {1},
     year = {2009},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2009_1_a9/}
}
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V. E. Pavlovskii; V. V. Evgrafov; N. V. Petrovskaya. Mobile robots with two independent coaxial drive wheels: Dynamics and the schemes of control. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2009), pp. 44-50. http://geodesic.mathdoc.fr/item/VMUMM_2009_1_a9/