@article{Chen_2013,
title={Minimum Energy Control Based on Vector Parameterization for Four-Wheel Drive Omni-Directional Mobile Robots},
volume={341–342},
ISSN={1662-7482},
url={http://dx.doi.org/10.4028/www.scientific.net/amm.341-342.784},
DOI={10.4028/www.scientific.net/amm.341-342.784},
journal={Applied Mechanics and Materials},
publisher={Trans Tech Publications,
Ltd.},
author={Chen,
Jian Ping and Wang,
Jian Bin and Yang,
Yi Min},
year={2013},
month=jul,
pages={784–790} }