For citations:

Pshikhopov V.Kh., Medvedev M.Yu., Gaiduk A.R. Control Algorithms for the Heterogeneous Groups of Vehicles in the Two-Dimensional Environments with Obstacles. Mekhatronika, Avtomatizatsiya, Upravlenie. 2016;17(8):515-524. (In Russ.) https://doi.org/10.17587/mau.17.515-524