Near-optimal dynamics trajectory generation and control of an omnidirectional vehicle. Kalmár-Nagy, T.; D'Andrea, R.; and Ganguly, P. Robotics and Autonomous Systems, 46(1):47-64, January, 2004.
bibtex   
@Article{Tamas04,
  Title                    = {Near-optimal dynamics trajectory generation and control of an omnidirectional vehicle},
  Author                   = {Tam{\'a}s Kalm{\'a}r-Nagy and Raffaello D'Andrea and Pritam Ganguly},
  Journal                  = {Robotics and Autonomous Systems},
  Year                     = {2004},
  Month                    = {January},
  Number                   = {1},
  Pages                    = {47-64},
  Volume                   = {46}
}
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