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Kinematics for modular wheeled mobile robots

Thomas Burke, Hugh F. Durrant-Whyte. Kinematics for modular wheeled mobile robots. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 1279-1286, IEEE, 1993. [doi]

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