Selim Temizer, Leslie Pack Kaelbling. Holonomic planar motion from non-holonomic driving mechanisms: the front-point method. In Douglas W. Gage, Howie Choset, editors, Mobile Robots XVI, Boston, MA, USA, October 28, 2001. Volume 4573 of SPIE Proceedings, pages 56-67, SPIE, 2001. [doi]
Abstract is missing.