Kinematics of wheeled mobile robots on uneven terrain

@article{Chakraborty2004KinematicsOW,
  title={Kinematics of wheeled mobile robots on uneven terrain},
  author={Nilanjan Chakraborty and Ashitava Ghosal},
  journal={Mechanism and Machine Theory},
  year={2004},
  volume={39},
  pages={1273-1287}
}
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