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The experimental and simulation results are discussed to demonstrate the effectiveness of this approach in indoor environments for two floor types.<\/jats:p>","DOI":"10.1017\/s0263574715000065","type":"journal-article","created":{"date-parts":[[2015,2,12]],"date-time":"2015-02-12T09:53:09Z","timestamp":1423734789000},"page":"2140-2150","source":"Crossref","is-referenced-by-count":10,"title":["Modeling and friction estimation for wheeled omnidirectional mobile robots"],"prefix":"10.1017","volume":"34","author":[{"given":"Andre G. S.","family":"Conceicao","sequence":"first","affiliation":[]},{"given":"Mariane D.","family":"Correia","sequence":"additional","affiliation":[]},{"given":"Luciana","family":"Martinez","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,2,12]]},"reference":[{"key":"S0263574715000065_ref14","doi-asserted-by":"crossref","unstructured":"B. Bona and M. 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