Dương Tấn Đạt, Trần Đức Thuận, Lê Hồng Kỳ and Lê Hữu Toàn 2024. Developing an algorithm for measurement of tilt angle for the base frame of a robot that transports patients through building stairs. Journal of Military Science and Technology. 98, 98 (Oct. 2024), 155–163. DOI:https://doi.org/10.54939/1859-1043.j.mst.98.2024.155-163.