Modeling of a Three Wheeled Omnidirectional Robot Including Friction Models. - André Gustavo Scolari Conceição; Mariane Dourado Correia (SyRoCo, 2012)

Modeling and friction estimation for wheeled omnidirectional mobile robots. - André Scolari Conceição; Mariane Dourado Correia; Luciana Martinez (Robotica, 2016)