For citations:

Devyatisilny A.S., Shurygin A.V. Mathematical Models and Algorithms of the Onboard Multi-Agent Integrated Motion Determination System. Mekhatronika, Avtomatizatsiya, Upravlenie. 2022;23(6):317-326. (In Russ.) https://doi.org/10.17587/mau.23.317-326