Pham, Minh Duc, Duc Cuong Vu, Thi Thuy Hang Nguyen, Danh Huy Nguyen, Thi Van Anh Nguyen, and Tung Lam Nguyen. “Dynamic Obstacle Avoidance Using Nonlinear Model Predictive Control and Control Barrier Function for Ballbot Systems”. JST: Smart Systems and Devices 34, no. 3 (September 15, 2024): 35–42. Accessed June 18, 2025. https://jst.vn/index.php/ssad/article/view/67.