Whatis a Holonomic Robot
According to Wikipedia: A Holonomic Platform robot is defined as a system that has the same numbers of actuation and degrees of freedom. The degrees of freedom are the x axis, y axis, and rotation about the origin. In this space, a mobile base with three omnidirectional wheels in a triangular configuration would be considered holonomic, but a tricycle would not (due to the Parallel parking problem). See my Post: Holonomic Platforms: Doing the MATH!