T2 omni-directional vehicle mechanical design. - Carl G. Wood; Morgan E. Davidson; Shayne C. Rich; Jared Keller 002; Russell Maxfield (Mobile Robots, 1999)

Modelling and control of a six-wheeled autonomous robot. - Kevin L. Moore 001; Morgan E. Davidson; Vikas Bahl; Shayne C. Rich; Stephan Jirgal (ACC, 2000)