The best paper I've seen was by Wada and Morit, "Holonomic and Omnidirectional Vehicle with Conventional Tires" in 1996 IEEE Int. Conf on Robotics and Automation. Unfortunately, they didn't provide the closed for solution for the inverse kinemtatics . However, figure 1 in the paper says it all. Just take a minute and look at it and it will explain why you will never, by definition, get holonomic omnidirectionality with a swerve.
http://ftp.imp.fu-berlin.de/pub/Roja...l/00509272.pdf
I'll dig up our work on OCILOW.