Wangmanaopituk, S., H. V. Voos, and W. . Kongprawechnon. “A Nonlinear Model-Predictive Motion Planning and Control System for Multi-Robots in a Microproduction System With Safety Constraints and a Global Long-Term Solution”. Agriculture and Natural Resources, vol. 48, no. 2, Apr. 2014, pp. 283-9, https://li01.tci-thaijo.org/index.php/anres/article/view/243255.