Simon Chamberland Eric Beaudry Lionel Clavien Froduald Kabanza François Michaud Michel Lauria Motion planning for an omnidirectional robot with steering constraints. 4305-4310 2010 IROS http://dx.doi.org/10.1109/IROS.2010.5648987 conf/iros/2010 db/conf/iros/iros2010.html#ChamberlandBCKML10