Motion Planning of a Wheeled Mobile Robot with Slip-Free Motion Capability on a Smooth Uneven Surface. - B. J. Choi; S. V. Sreenivasan (ICRA, 1998)

Gross motion characteristics of articulated mobile robots with pure rolling capability on smooth uneven surfaces. - B. J. Choi; S. V. Sreenivasan (IEEE Trans. Robotics Autom., 1999)