Modeling and control-related analysis of the ground pressure exerted by wheels in a tri-wheel mobile robot. - Ryszard Beniak; Tomasz Pyka (MMAR, 2014)

Correction of odometry errors in a tri-wheel mobile robot. - Ryszard Beniak; Tomasz Pyka (MMAR, 2015)

Stability analysis of a tri-wheel mobile robot. - Ryszard Beniak; Tomasz Pyka (MMAR, 2016)

An Energy-Consumption Analysis of a Tri-wheel Mobile robot. - Ryszard Beniak; Tomasz Pyka (Int. J. Robotics Autom., 2016)

Mobile robot with non-slip castor wheel. - Ryszard Beniak; Tomasz Pyka (MMAR, 2017)

The Effect of an Off-Centered Orientable Wheel on Motion Characteristics of a Mobile Robot. - Ryszard Beniak; Tomasz Pyka (MMAR, 2018)

Trajectory tracking of a tri-wheel mobile robot using the castor wheel's twist angle. - Ryszard Beniak; Tomasz Pyka (MMAR, 2019)