I am looking for papers and associated documentation for a particular omnidirectional robot design. Especially what has to do with the robot kinematic characterization. Unfortunately I can't find the right search terms.

What is the technical name given to the mobile omnidirectional robot configuration whose design consists of 4 independent wheels that can rotate 180 degrees independently (al least)?

See sample video:


On the other hand, do you know any publication/paper/book/articles about it?