S. Kautsar, A. S. Aisjah, S. Arifin, and M. Syai’in, “Q-RCR: A Modular Framework for Collision-Free Multi-Package Transfer on Four-Wheeled Omnidirectional Conveyor Systems ”, J Robot Control (JRC), vol. 6, no. 4, pp. 1648–1664, Jun. 2025.