Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot. - Matthew Thomas Watson; Daniel T. Gladwin; Tony J. Prescott; Sebastian O. Conran (ICRA, 2019)

Collinear Mecanum Drive: Modeling, Analysis, Partial Feedback Linearization, and Nonlinear Control. - Matthew Thomas Watson; Daniel T. Gladwin; Tony J. Prescott (IEEE Trans. Robotics, 2021)