Iswanto ., Ma’arif A, Maharani Raharja N, Supangkat G, Arofiati F, Sekhar R, et al. PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot. Emerg Sci J [Internet]. 2021 Nov. 15 [cited 2025 Jun. 4];5:157-81. Available from: https://ijournalse.org/index.php/ESJ/article/view/617