Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint

Alexander Dietrich, Thomas Wimbock, Alin Albu-Schaffer, Gerd Hirzinger
2011 2011 IEEE International Conference on Robotics and Automation  
One characteristic attribute of mobile platforms
doi:10.1109/icra.2011.5979549 dblp:conf/icra/DietrichWAH11 fatcat:35h54bu2rrfnzesxdfmlcnrvmu