Emaru, T., H. Sato, and Y. Kobayashi. “Local-behavior determination for an omnidirectional mobile robot using an integration-type sonar ring”. Journal of Research and Applications in Mechanical Engineering, vol. 4, no. 1, Aug. 2018, pp. 58-67, https://ph01.tci-thaijo.org/index.php/jrame/article/view/138796.