For citations:

Zenkevich S.L., Zhu H., Zhai M. One Way to Obtain the Smoothed Estimate of Phase Vector in the Task of Motion Control of Convoy Robots. Mekhatronika, Avtomatizatsiya, Upravlenie. 2018;19(7):458-463. (In Russ.) https://doi.org/10.17587/mau.19.458-463