For citations:

Shlyakhov N.E., Vatamaniuk I.V., Ronzhin A.L. Review of the Methods and Algorithms of a Robot Swarm Aggregation. Mekhatronika, Avtomatizatsiya, Upravlenie. 2017;18(1):22-29. (In Russ.) https://doi.org/10.17587/mau.18.22-29