Sokolov Boris, Palitsyn Vladimir, Nazarov Dmitriy. Mathematical model and algorithm of operation scheduling for monitoring situation in local waters 12th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” – 2017 (MATEC Web Conf.). Volume 113 (2017) 02012. [электронный ресурс] https://www.matec-conferences.org/articles/matecconf/pdf/2017/27/matecconf_er2017_02012.pdf. DOIhttps://doi.org/10.1051/matecconf/201711302012