[Ether]

Originally Posted by JamesTerm

Thanks for this link as well... I am a bit surprised that there are no solution cases. In my mind the robot is going to do something for those cases

I did not say there were no solutions or that the robot would not do something. I said there were no kinematic solutions. Take a closer look at the link I posted previously; the meaning of this is explained there.

, and I'd look at this from a physics standpoint...

Kinematics is physics :-)

by applying a vectored force to each point

This is dynamics (also physics). For arbitrarily chosen values for each of the four wheel speeds and steering angles, a dynamic analysis of this sort could be done. Write a paper when you're done.