Adriansyah, A., B. Sulle, E. Ihsanto, and Y. Gunardi. “Optimization of Circular Robot Size Using Behavior Based Architecture”. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), vol. 9, no. 3-7, Nov. 2017, pp. 67-72, https://jtec.utem.edu.my/jtec/article/view/3077.