PHAM, Minh Duc; VU, Duc Cuong; NGUYEN, Thi Thuy Hang; NGUYEN, Danh Huy; NGUYEN, Thi Van Anh; NGUYEN, Tung Lam. Dynamic Obstacle Avoidance Using Nonlinear Model Predictive Control and Control Barrier Function for Ballbot Systems. JST: Smart Systems and Devices, [S. l.], v. 34, n. 3, p. 35–42, 2024. DOI: 10.51316/jst.176.ssad.2024.34.3.5. Disponível em: https://jst.vn/index.php/ssad/article/view/67. Acesso em: 19 jun. 2025.