Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger. Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint. In IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011. pages 6136-6142, IEEE, 2011. [doi]
Abstract is missing.