Byung-Ju Yi, Whee Kuk Kim. The kinematics for redundantly actuated omnidirectional mobile robots. J. Field Robotics, 19(6):255-267, 2002. [doi]
@article{YiK02-0,
title = {The kinematics for redundantly actuated omnidirectional mobile robots},
author = {Byung-Ju Yi and Whee Kuk Kim},
year = {2002},
doi = {10.1002/rob.10039},
url = {http://dx.doi.org/10.1002/rob.10039},
researchr = {https://researchr.org/publication/YiK02-0},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {19},
number = {6},
pages = {255-267},
}