For citations:

Kilin A.A., Karavaev Yu.L., Shestakov V.A. Motion of a Four-Wheeled Omnidirectional Mobile Robot without Slipping and Detachment from the Surface. Mekhatronika, Avtomatizatsiya, Upravlenie. 2023;24(8):403-411. (In Russ.) https://doi.org/10.17587/mau.24.403-411