Setiawardhana, Rudy Dikairono, Djoko Purwanto and Tri Arief Sardjono 2020. Goalkeeper Robot Navigation Based on Ball Position and Arrival Time Prediction. Jurnal Nasional Teknik Elektro dan Teknologi Informasi. 9, 3 (Aug. 2020), 296-304. DOI:https://doi.org/10.22146/.v9i3.295.