Beniak, Ryszard, and Tomasz Pyka. “Influence of PWM to Trajectory Accuracy in Mobile Robot Motion”. Journal of Automation, Mobile Robotics and Intelligent Systems 6, no. 4 (October 4, 2012): 50–56. Accessed May 15, 2025. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/246.