Comparison of Tuning Techniques for PID Controllers in Mobile Robots Using the Empirical Method and the Firefly Metaheuristic Algorithm. - Lucas Marchesan da Silva; Enzo Fernando Simão Costa; João Pedro Azenha Righi; Lucas Teles; Thássio Gomes Silva; Daniel Fernando Tello Gamarra; Anselmo Rafael Cukla (SBR/WRE, 2025)