A vehicle with zero turning radius employing a minimum of two generally parallel matching annular wheels mounted with independent pneumatic toroidal suspensions fixed coaxially on a chassis. The wheels have mounted on their inner hub sides frictional linings along which run a respectively equal number of circumferentially distributed truncated-bicone-shaped rotors of brush-less dc motors with stator shafts fixed on to the axles of the wheels. Addition of a number of large holonomic wheels in tandem on either side of the two generally parallel wheels makes the vehicle longer and more stable. The large holonomic wheels have tires formed by a toroidal unanimity of disc-like rollers with magnetic or electromagnetic elements radially distributed evenly to make each disc-like roller rotate or resist rotation perpendicular to the holonomic wheel axis by acting as a rotor to motor stator windings attached to the chassis in proximity with the ground-engaging portion of the tire.