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Here's the latest from BOA-Labs: My first omni-wheeler. It draws very little from the suggestion here. Most roving robots must turn to face their direction of travel. The plan with this one is that it should be able to move around in 2D space without having to turn to face "forward." It's called "holonomic" motion. It's annoying that so many variations on this have already made it to market. Other omni wheelers have a perceived flaw where they might slide off the sloped roof ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/tow-triomniwheeler