Hamid Rajaie Reinhard Lafrenz Oliver Zweigle Uwe-Philipp Käppeler Frank Schreiber Thomas Rühr Andreas Tamke Paul Levi Physical Simulation of the Dynamical Behavior of Three-Wheeled Omni-directional Robots. 270-277 2007 RoboCup http://dx.doi.org/10.1007/978-3-540-68847-1_25 conf/robocup/2007 db/conf/robocup/robocup2007.html#RajaieLZKSRTL07