P. V. B. Ngoc, L. H. Hoang, L. M. Hieu, N. H. Nguyen, N. L. Thien, and V. T. Doan, “Real-Time Fire and Smoke Detection for Trajectory Planning and Navigation of a Mobile Robot”, Eng. Technol. Appl. Sci. Res., vol. 13, no. 5, pp. 11843–11849, Oct. 2023.