For citations:

Finaev V.I., Medvedev M.Yu., Pshikhopov V.Kh., Pereverzev V.A., Soloviev V.V. Unmanned Powerboat Motion Terminal Control in an Environment with Moving Obstacles. Mekhatronika, Avtomatizatsiya, Upravlenie. 2021;22(3):145-154. https://doi.org/10.17587/mau.22.145-154