Pshikhopov, Viacheslav, Mikhail Medvedev, Vladimir Kostjukov, Firas Houssein, and Azhar Kadhim. 2022. “Trajectory Planning Algorithms in Two-Dimensional Environment With Obstacles”. Informatics and Automation 21 (3), 459-92. https://doi.org/10.15622/ia.21.3.1.