Nurmaini, Siti, . Saparudin, Bambang Tutuko, and Aditya Putra P. 2016. “Pattern Recognition Approach for Swarm Robots Reactive Control With Fuzzy-Kohonen Networks and Particle Swarm Optimization Algorithm”. Journal of Telecommunication, Electronic and Computer Engineering (JTEC) 8 (3):155-60. https://jtec.utem.edu.my/jtec/article/view/1022.