Budiharto, W., Santoso, A., Purwanto, D. and Jazidie, A. 2013. A New Obstacle Avoidance Method for Service Robots in Indoor Environments. Journal of Engineering and Technological Sciences. 44, 2 (Sep. 2013), 149-168. DOI:https://doi.org/10.5614/itbj.eng.sci.2012.44.2.4.