This is a collection of documents related to the design and control of holonomic robots. A brief description is offered for each. Feel free to add more resources as well as add/change the provided descriptions.

Overview of various drive systems and the Kinematics of different designs. A good read for any roboticist. Holonomic equations are on the last page.
Attach:Kinematics_Definitions.pdf

Research paper detailing the design and kinematics of a 3-wheel holonomic robot created for RoboCup. Most (if not all) RoboCup robots are holonomic due to the requirements for quick motion in any direction.
Attach:Holonomic_Control_Detail.pdf