@article{Schmidt11,
Author = {Daniel Schmidt and Carsten Hillenbrand and Karsten Berns},
Title = {Omnidirectional Locomotion and Traction Control of the Wheel-driven Wall-climbing Robot CROMSCI},
Journal = {Robotica Journal},
Year = {2011},
Volume = {29},
Number = {7},
Pages = {991-1003},
Month = {December},
}