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  "abstract": "Planning driving sequences of mobile robots and other devices. In one aspect, a method includes receiving an instruction for movement of a device along a supporting surface. The device includes at least one drive wheel and at least one caster that is rotatable about a generally vertical axis. During motion, the caster is configured to reorient so that an swivel joint of the caster to the device leads a wheel of the caster. The method also includes planning a drive instruction for the device to implement the instruction for movement based on an orientation or expected orientation of the at least one caster upon beginning of the movement. The drive instruction is tailored to the drive wheel and the caster of the device and configured to limit reorientation of the caster during motion in accordance with the drive instruction.",
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  "title": "Reducing resistance to movement of devices that include casters",
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