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Kinematic Modeling of Wheeled Robots
P. Muir
Introduction to Robotics, P.J., McKerrow, ed., Addison-Wesley Publishing Company, New York, 1991, pp. 402-421.

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Note: Section 8.1

P. Muir, "Kinematic Modeling of Wheeled Robots," Introduction to Robotics, P.J., McKerrow, ed., Addison-Wesley Publishing Company, New York, 1991, pp. 402-421.

@incollection{Muir_1991_1096,
   author = "Patrick Muir",
   editor = "P.J., McKerrow",
   title = "Kinematic Modeling of Wheeled Robots",
   booktitle = "Introduction to Robotics",
   pages = "402-421",
   publisher = "Addison-Wesley Publishing Company",
   address = "New York",
   year = "1991",
   note = "Section 8.1"
}