For citations:

Pshikhopov V.Kh., Medvedev M.J. Decentralized Control of a Group of Similar Objects Moving in a Two-Dimensional Environment with Obstacles. Mekhatronika, Avtomatizatsiya, Upravlenie. 2016;17(5):346-353. (In Russ.) https://doi.org/10.17587/mau/17.346-353