For citations:

Kostjukov V.A., Medvedev M.Y., Pshikhopov V.Kh. Algorithms for Path Planning in a Group of Mobile Robots in an Environment with Obstacles with a Given Template. Mekhatronika, Avtomatizatsiya, Upravlenie. 2023;24(1):33-45. (In Russ.) https://doi.org/10.17587/mau.24.33-45