{"id":10341,"date":"2026-04-07T08:57:15","date_gmt":"2026-04-07T07:57:15","guid":{"rendered":"https:\/\/izvestiyakbncran.ru\/?page_id=10341"},"modified":"2026-04-08T14:35:54","modified_gmt":"2026-04-08T13:35:54","slug":"25-6-24-en","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/","title":{"rendered":"25.6.24 En"},"content":{"rendered":"\n

Simulation of group management of agricultural robots using finite state machines and ontologies<\/strong><\/h1>\n\n\n\n

M.A. Shereuzhev, F.V. Devyatkin, D.I. Arabadjiev, M.A. Shereuzhev<\/strong><\/p>\n\n\n\n

<\/p>\n\n\n\n

\n\n\n\n
\n

Upload the full text<\/strong><\/strong><\/p>\n\n\n\n

\n
\n
PDF<\/a><\/div>\n<\/div>\n\n\n\n
<\/div>\n<\/div>\n<\/div>\n\n\n\n

Abstract<\/strong>. <\/em>The article discusses a method for modeling the operation of a control system for a group of robots. A knowledge base of a group control system is proposed, presented in the form of ontology. The finite state machines of the leading and driven robots are described. An algorithm for assigning tasks to individual robots is considered and tools for modeling motion control and task distribution are configured to provide a unified software environment for modeling group control. The Hungarian algorithm is considered in the context of assigning tasks to individual robots; the A* (Astar) planner was used to estimate movement paths. Tools for modeling motion control and task distribution have been configured to provide a unified software environment for modeling group control. The results obtained are applicable in problems of optimizing the interaction of multi-agent systems.<\/p>\n\n\n\n

<\/p>\n\n\n\n

Keywords<\/strong>:<\/em><\/strong> multirobot control system, ontology, robotic system, finite state machine<\/p>\n\n\n\n

<\/p>\n\n\n\n

For citation<\/strong>.<\/strong> Shereuzhev M.A., Devyatkin F.V., Arabadjiev D.I., Shereuzhev M.A. Simulation of group management of agricultural robots using finite state machines and ontologies. News of the Kabardino-Balkarian Scientific Center of RAS<\/em>. 2023. No. 6(116). Pp. 247\u2013263. DOI: 10.35330\/1991-6639-2023-6-116-247-263<\/p>\n\n\n\n

<\/p>\n\n\n\n

R<\/strong>eferences<\/summary>\n
    \n
  1. Nagoev Z.V., Shuganov V.M., Bzhikhatlov K.Ch. et al. Prospects for increasing the productivity and efficiency of agricultural production using an intelligent integrated environment. News of the Kabardino-Balkarian Scientific Center of RAS<\/em>. 2021. No. 6(104). Pp. 155\u2013165. (In Russian)<\/li>\n\n\n\n
  2. Zenkevich S.L., Zhu Hua, Ho Jianwen. Dvizhenie gruppy mobil’nyh robotov v stroju tipa \u00abkonvoj\u00bb \u2013 teorija, modelirovanie i eksperiment [Movement of a group of mobile robots in a convoy-type formation \u2013 theory, modeling and experiment]. IV Vserossiyskiy nauchnoprakticheskiy seminar \u00abBespilotnyye transportnyye sredstva s elementami iskusstvennogo intellekta\u00bb, 5\u20136.10.2017, Kazan: trudy seminara, eds. E.A. Magid, V.E. Pavlovsky, K.S. Yakovlev. Kazan: Tsentr innovatsionnykh tekhnologiy, 2017. Pp. 136\u2013147. (In Russian)<\/li>\n\n\n\n
  3. Shereuzhev M., Mostakov N., Vorotnikov S. Development of the Elements of a Control System for a Mobile Agricultural Robot Operating in a Group. Modeling in Engineering<\/em>. Moskow, \u0421. 11\u201318.<\/li>\n\n\n\n
  4. Nagoev Z.V., Nagoeva O.V. Extracting knowledge from multimodal streams of unstructured data based on the self-organization of a multi-agent cognitive architecture of a mobile robot. News of the Kabardino-Balkarian Scientific Center of RAS<\/em>. 2015. No. 6\u20132(68). Pp. 145\u2013152. (In Russian)<\/li>\n\n\n\n
  5. Nazarova A.V., Huo J., Zenkevich S.L. Dynamic switching of multi-agent fromation in unknown obstacle environment. Studies in systems, decision and control.<\/em> 2020. No. 261. Pp. 73\u201387.<\/li>\n\n\n\n
  6. Noskov V.P., Rubtsov I.V. Experience in solving the problem of autonomous control of the movement of mobile robots. Mekhatronika, avtomatizatsiya, upravleniye [Mechatronics, automation, control]. 2005. No. 12. Pp. 21\u201324. (In Russian)<\/li>\n\n\n\n
  7. Hohimer C. Design and Field Evaluation of a Robotic Apple Harvesting System with a 3D-Printed Soft-Robotic End-Effector. Transactions of the ASABE. 2019. No. 62. Pp. 405\u2013414. DOI: 10.13031\/trans.12986<\/li>\n\n\n\n
  8. Yang S.H., Lai W.H. Multi-robot task allocation with fuzzy constraint satisfaction. International Journal of Advanced Robotic Systems. 2012. No. 9(3). Pp. 107\u2013116.<\/li>\n\n\n\n
  9. Julian B.J., Gerkey B.P. Scalable multirobot task allocation for complex missions. Proceedings of the International Conference on Intelligent Robots and Systems. 2007. Pp. 2730\u20132736.<\/li>\n\n\n\n
  10. Lacroix S., Nourbakhsh I.R., Tomatis N. Multi-robot task allocation in uncertain environments using negotiation. Robotics and Autonomous Systems. 2001. No. 37(2\u20133). Pp. 163\u2013179.<\/li>\n\n\n\n
  11. Shi Z., Yu H., Zhang Q., Cheng Y. A hybrid algorithm for task allocation in multi-robot systems based on improved Hungarian algorithm and particle swarm optimization. International Journal of Advanced Robotic Systems. 2015. No. 12(8). Pp. 1\u201313.<\/li>\n\n\n\n
  12. Martinelli S., Giordani M., Lujak F. A Distributed Algorithm for the Multi-Robot Task Allocation Problem. IEA\/AIE 2010: Trends in Applied Intelligent Systems. Cordoba, Spain: Springer, 2010.<\/li>\n\n\n\n
  13. Galin R.R. Virtual training ground for effective interaction of robots in a multi-agent robotic system. News of the Kabardino-Balkarian Scientific Center of RAS. 2018. No. 6\u20132(86). Pp. 108\u2013113. (In Russian)<\/li>\n\n\n\n
  14. Shamshiri R.R., Hameed I.A., Karkee M., Weltzien C. Robotic Harvesting of Fruiting Vegetables: A Simulation Approach in V-REP, ROS and MATLAB. Automation in Agriculture \u2013 Securing Food Supplies for Future Generations. 2018. URL: http:\/\/dx.doi.org\/10.5772\/intechopen.73861 (access date: 15.08.2019).<\/li>\n<\/ol>\n<\/details>\n\n\n\n
    Information about the authors<\/strong><\/summary>\n
    \n

    Shereuzhev Madin Arturovich<\/strong>, Senior Teacher of the Department of \u201cRobotic systems and mechatronics\u201d, Moscow State Technical University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, building 1;
    shereuzhev@bmstu.ru, ORCID: https:\/\/orcid.org\/0000-0003-2352-992\u0425 <\/p>\n\n\n\n

    Arabadzhiev Denis Igorevich<\/strong>, Graduate Student of \u201cRobotics and mechatronics\u201d Department, Moscow State Technical University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, building 1;
    arabadzhievdi@student.bmstu.ru
    Devyatkin Fedor Vladimirovich<\/strong>, Graduate Student of \u201cRobotics and mechatronics\u201d Department, Moscow State Technical University named after N.E. Bauman;
    105005, Russia, Moscow, 2nd Baumanskaya street 5, building 1;
    feodor-dev@ya.ru
    Shereuzhev Marat Arturovich<\/strong>, Postgraduate Student of \u201cAgronomy\u201d Department, Kabardino-Balkarian State Agrarian University named after V.M. Kokov;
    360030, Russia, Nalchik, 1v Lenin avenue;
    Trainee researcher of the Laboratory \u201cIntellectual Habitats\u201d of the Institute of Computer Science and Problems of Regional Management \u2013 branch of Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences;
    360000, Russia, Nalchik, 37-a I. Armand street;
    marat.shereuzhev07@mail.ru, ORCID: https:\/\/orcid.org\/0000-0001-7368-4691<\/p>\n\n\n\n

    <\/p>\n\n\n\n


    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n<\/div>\n<\/details>\n","protected":false},"excerpt":{"rendered":"

    Simulation of group management of agricultural robots using finite state machines and ontologies M.A. Shereuzhev, F.V. Devyatkin, D.I. Arabadjiev, M.A. Shereuzhev Upload the full text Abstract. The article discusses a method for modeling the operation of a control system for a group of robots. A knowledge base of a group control system is proposed, presented […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"wp-custom-template-home","meta":{"footnotes":""},"class_list":["post-10341","page","type-page","status-publish","hentry"],"yoast_head":"\n25.6.24 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/\" \/>\n<meta property=\"og:locale\" content=\"ru_RU\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"25.6.24 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"og:description\" content=\"Simulation of group management of agricultural robots using finite state machines and ontologies M.A. Shereuzhev, F.V. Devyatkin, D.I. Arabadjiev, M.A. Shereuzhev Upload the full text Abstract. The article discusses a method for modeling the operation of a control system for a group of robots. A knowledge base of a group control system is proposed, presented […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/\" \/>\n<meta property=\"og:site_name\" content=\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"article:modified_time\" content=\"2026-04-08T13:35:54+00:00\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u041f\u0440\u0438\u043c\u0435\u0440\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u0434\u043b\u044f \u0447\u0442\u0435\u043d\u0438\u044f\" \/>\n\t<meta name=\"twitter:data1\" content=\"5 \u043c\u0438\u043d\u0443\u0442\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-24-en\\\/\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-24-en\\\/\",\"name\":\"25.6.24 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#website\"},\"datePublished\":\"2026-04-07T07:57:15+00:00\",\"dateModified\":\"2026-04-08T13:35:54+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-24-en\\\/#breadcrumb\"},\"inLanguage\":\"ru-RU\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-24-en\\\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-24-en\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u0413\u043b\u0430\u0432\u043d\u0430\u044f \u0441\u0442\u0440\u0430\u043d\u0438\u0446\u0430\",\"item\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"25.6.24 En\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#website\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\",\"name\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"description\":\"\u041d\u0430\u0443\u0447\u043d\u044b\u0439 \u0436\u0443\u0440\u043d\u0430\u043b\",\"publisher\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"ru-RU\"},{\"@type\":\"Organization\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#organization\",\"name\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"ru-RU\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#\\\/schema\\\/logo\\\/image\\\/\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/wp-content\\\/uploads\\\/2025\\\/07\\\/oblozhka-zhurnala-na-angl-scaled.jpg\",\"contentUrl\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/wp-content\\\/uploads\\\/2025\\\/07\\\/oblozhka-zhurnala-na-angl-scaled.jpg\",\"width\":1828,\"height\":2560,\"caption\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\"},\"image\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#\\\/schema\\\/logo\\\/image\\\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"25.6.24 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/","og_locale":"ru_RU","og_type":"article","og_title":"25.6.24 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","og_description":"Simulation of group management of agricultural robots using finite state machines and ontologies M.A. Shereuzhev, F.V. Devyatkin, D.I. Arabadjiev, M.A. Shereuzhev Upload the full text Abstract. The article discusses a method for modeling the operation of a control system for a group of robots. A knowledge base of a group control system is proposed, presented […]","og_url":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/","og_site_name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","article_modified_time":"2026-04-08T13:35:54+00:00","twitter_card":"summary_large_image","twitter_misc":{"\u041f\u0440\u0438\u043c\u0435\u0440\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u0434\u043b\u044f \u0447\u0442\u0435\u043d\u0438\u044f":"5 \u043c\u0438\u043d\u0443\u0442"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/","url":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/","name":"25.6.24 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","isPartOf":{"@id":"https:\/\/izvestiyakbncran.ru\/#website"},"datePublished":"2026-04-07T07:57:15+00:00","dateModified":"2026-04-08T13:35:54+00:00","breadcrumb":{"@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/#breadcrumb"},"inLanguage":"ru-RU","potentialAction":[{"@type":"ReadAction","target":["https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-24-en\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u0413\u043b\u0430\u0432\u043d\u0430\u044f \u0441\u0442\u0440\u0430\u043d\u0438\u0446\u0430","item":"https:\/\/izvestiyakbncran.ru\/"},{"@type":"ListItem","position":2,"name":"25.6.24 En"}]},{"@type":"WebSite","@id":"https:\/\/izvestiyakbncran.ru\/#website","url":"https:\/\/izvestiyakbncran.ru\/","name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","description":"\u041d\u0430\u0443\u0447\u043d\u044b\u0439 \u0436\u0443\u0440\u043d\u0430\u043b","publisher":{"@id":"https:\/\/izvestiyakbncran.ru\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/izvestiyakbncran.ru\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"ru-RU"},{"@type":"Organization","@id":"https:\/\/izvestiyakbncran.ru\/#organization","name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","url":"https:\/\/izvestiyakbncran.ru\/","logo":{"@type":"ImageObject","inLanguage":"ru-RU","@id":"https:\/\/izvestiyakbncran.ru\/#\/schema\/logo\/image\/","url":"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2025\/07\/oblozhka-zhurnala-na-angl-scaled.jpg","contentUrl":"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2025\/07\/oblozhka-zhurnala-na-angl-scaled.jpg","width":1828,"height":2560,"caption":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb"},"image":{"@id":"https:\/\/izvestiyakbncran.ru\/#\/schema\/logo\/image\/"}}]}},"_links":{"self":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/10341","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/comments?post=10341"}],"version-history":[{"count":11,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/10341\/revisions"}],"predecessor-version":[{"id":10727,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/10341\/revisions\/10727"}],"wp:attachment":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/media?parent=10341"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}