Formulas for steering a complex robotic vehicle are derived with examples. Taken together, the formulas constitute an algorithm which converts commands from a joystick or a trajectory planner into wheel speeds and steering angles. The algorithm is applied to a robotic vehicle in which all wheels are independently steered and powered. The algorithm maps operator requests onto the control space of the vehicle. Steering all the wheels introduces new command options due to increased mobility and quickness of response thereby creating a virtual vehicle for use in route and task planning which is the highest-common-multiple of land vehicle capabilities. For example, an all-wheel steering vehicle can tack uphill, step over a trench or simultaneously rotate while translating -- maneuvers not even possible for most vehicles. These and other examples, including a comparison with an exact solution, add perspective to the mathematical derivations.