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From: rwmurphr@wildcat.ecn.uoknor.edu (Robert W Murphree)
Subject: Re: Modeling Slip, Mobile Robotics, Kinematics, Simulation
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Date: Fri, 20 Nov 1992 05:27:47 GMT
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I think odometry people are used to dealing with different size wheels, 
lopsided wheels.  There's some corrections you make to odometry for
different sized wheels.  Some guys at Georgia tech in the mechanical
engineering department have done some thesis work involving odometry.

Some of the work involves adaptive algorithyms to accomodate errors 
in measuring vehicle dimensions. 
