Development of a Cost-effective On-device Natural Language Command Navigation System for Mobile Robots in Challenging Indoor Scenarios. - Tung T. Ngo; Khoi T. N. Nguyen; Duc Q. Nguyen; Khuyen G. Pham; Khoi H. M. Hoang; Quang P. M. Pham; Truong T. Do (SII, 2025)