It maybe not be quiet the same thing but Azimuth thrusters for cruse ships and tug boats are similar.
The technology exists in a lot of forums out side of drive modules like the ones we see. Cable laying ships use holonomic type drive systems to keep everything aligned properly.
A lot of first teams seem to be at the edge of developing these systems wear thing don't need to be as agile as a swerve in the real world(some argue the same thing about first to).
http://www.google.com/patents/US20070080000
This seems to have a lot of the same concepts that modern swerve drives have. It also references a good amount of patents for similar drive types. though its technology being referenced seems to be really old(for 2010) and some of what its stating is strange at best. (lots of big words....)