00718naa#a2200181#i#4500001001500000005001700015011001400032100004100046102000700087200010500094210005800199215001000257608002700267675016400294700002300458700003400481856002100515EN\\bibl\6916920240517135003.5##a2072-9502##a20230727b2023####ek#y0engy0150####ca##aRU1#aPlanning safe routes for unmanned vessels  based on artificial intelligence methodseJournal article1#aAstrakhancAstrakhan State Technical Universityd2023##a8 с.##aJournal article2local##aМатематическая теория управления. Оптимальное управление. Дифференциальные игры. 517.977#1aBarakatgLama Ali #1aKvyatkovskayagIrina Yur'evna4#avestnik.astu.org