Safar, M., Y. Chandradekaran, S. Basah, K. Basaruddin, and M. Hashim. “Kinematic Analysis of a Screw Wheeled Omnidirectional Mobile Robot”. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), vol. 10, no. 1-15, May 2018, pp. 111-5, https://jtec.utem.edu.my/jtec/article/view/4056.