What are the differences between authentication systems, schemes, protocols, and methods?

I am trying to use this in my litertature, but I am not exactly sure which is the most common or if there are any significant differences behind each term?

How and when are the keywords systems, schemes, protocols and methods are used? Which is the most common and accepted to use in literature?

For example, this RFC uses 'authentication scheme' https://datatracker.ietf.org/doc/html/rfc7617

Thank you

authentication cybersecurity systems