@article{rojas06ki,
  author    = {Raúl Rojas and 
               Alexander Gloye Förster},
  title     = {Holonomic Control of a robot with an omnidirectional drive},
  journal   = {KI - Künstliche Intelligenz},
  volume    = {20},
  number    = {2},
  year      = {2006},
  pages     = {12-17},
  URL        = {http://www.kuenstliche-intelligenz.de/},
}