K. Nurariyanto, M. S. Zuhrie, B. Suprianto, and P. W. Rusimamto, “Sistem Positioning Pada Four-Wheeled Omnidirectional Mobile Robot Menggunakan Metode Gyrodometry Berbasis PI-Fuzzy Controller”, JTE, vol. 11, no. 1, pp. 77–87, May 2022.