{"id":6649,"date":"2026-02-22T21:19:28","date_gmt":"2026-02-22T21:19:28","guid":{"rendered":"https:\/\/izvestiyakbncran.ru\/?page_id=6649"},"modified":"2026-03-05T14:53:33","modified_gmt":"2026-03-05T14:53:33","slug":"28-1-2","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/28-1-2\/","title":{"rendered":"28.1.2"},"content":{"rendered":"\n<h1 class=\"wp-block-heading has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-c4f8654c68d03b49f40b759307b86030\" style=\"font-size:22px\"><strong>\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u043e\u043c \u0432 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u043d\u0435\u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u043d\u043e\u0439 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style=\"border-color:#5b1919;border-style:solid;border-width:2px;border-radius:8px;color:#5b1919;padding-top:0.4rem;padding-right:var(--wp--preset--spacing--40);padding-bottom:0.4rem;padding-left:var(--wp--preset--spacing--40)\">PDF<\/a><\/div>\n<\/div>\n\n\n\n<div style=\"height:0px;width:0px\" aria-hidden=\"true\" class=\"wp-block-spacer wp-container-content-273e683f\"><\/div>\n<\/div>\n<\/div>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-7cd078326b61f4940450039ab03d5a2b\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><strong><em>\u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f<\/em><\/strong>. \u041d\u0430\u0443\u0447\u043d\u0430\u044f \u043d\u043e\u0432\u0438\u0437\u043d\u0430 \u0434\u0430\u043d\u043d\u043e\u0439 \u0440\u0430\u0431\u043e\u0442\u044b \u0437\u0430\u043a\u043b\u044e\u0447\u0430\u0435\u0442\u0441\u044f \u0432 \u0440\u0430\u0437\u0432\u0438\u0442\u0438\u0438 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\u0440\u0435\u043a\u0443\u0440\u0441\u0438\u0432\u043d\u043e\u0433\u043e \u0431\u0430\u0439\u0435\u0441\u043e\u0432\u0441\u043a\u043e\u0433\u043e \u0444\u0438\u043b\u044c\u0442\u0440\u0430 \u0441 \u0443\u0447\u0435\u0442\u043e\u043c \u043c\u0430\u0442\u0440\u0438\u0446\u044b \u0437\u0430\u0448\u0443\u043c\u043b\u0435\u043d\u0438\u044f \u0440\u0430\u0437\u043c\u0435\u0440\u043d\u043e\u0441\u0442\u044c\u044e 6\u00d76 \u0438 \u043c\u0435\u0445\u0430\u043d\u0438\u0437\u043c\u0430 \u043f\u043e\u0434\u0442\u0432\u0435\u0440\u0436\u0434\u0435\u043d\u0438\u044f \u0438\u0437\u043c\u0435\u0440\u0435\u043d\u0438\u0439 (k = 10 \u043f\u043e\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u0442\u0435\u043b\u044c\u043d\u044b\u0445 \u0441\u043e\u0432\u043f\u0430\u0434\u0435\u043d\u0438\u0439), \u0447\u0442\u043e \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0438\u0432\u0430\u0435\u0442 \u0443\u0441\u0442\u043e\u0439\u0447\u0438\u0432\u043e\u0441\u0442\u044c \u043a \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u0432\u043e\u0437\u043c\u0443\u0449\u0435\u043d\u0438\u044f\u043c. \u041f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043d\u0430\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0430\u0446\u0438\u044f \u0432\u044b\u043f\u043e\u043b\u043d\u0435\u043d\u0430 \u043d\u0430 \u044f\u0437\u044b\u043a\u0435 Python 3 \u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435\u043c \u0431\u0438\u0431\u043b\u0438\u043e\u0442\u0435\u043a OpenCV, NumPy \u0438 SciPy. \u042d\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0430\u044f \u0432\u0435\u0440\u0438\u0444\u0438\u043a\u0430\u0446\u0438\u044f \u043f\u0440\u043e\u0432\u0435\u0434\u0435\u043d\u0430 \u0432 500 \u0441\u0438\u043c\u0443\u043b\u044f\u0446\u0438\u044f\u0445 \u0432 \u0441\u0440\u0435\u0434\u0435 Gazebo \u0438 30 \u043d\u0430\u0442\u0443\u0440\u043d\u044b\u0445 \u0438\u0441\u043f\u044b\u0442\u0430\u043d\u0438\u044f\u0445 \u043f\u0440\u0438 \u0432\u0430\u0440\u044c\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0438 \u0443\u0440\u043e\u0432\u043d\u044f \u0448\u0443\u043c\u0430 \u03c3 = 0,05\u20260,2 \u0441 \u043e\u0446\u0435\u043d\u043a\u043e\u0439 \u043c\u0435\u0442\u0440\u0438\u043a RMSE, \u0432\u0435\u0440\u043e\u044f\u0442\u043d\u043e\u0441\u0442\u0438 \u043b\u043e\u0436\u043d\u044b\u0445 \u0441\u0440\u0430\u0431\u0430\u0442\u044b\u0432\u0430\u043d\u0438\u0439 \u0438 \u0432\u0440\u0435\u043c\u0435\u043d\u0438 \u0432\u044b\u043f\u043e\u043b\u043d\u0435\u043d\u0438\u044f \u0446\u0438\u043a\u043b\u0430 \u043c\u0430\u043d\u0438\u043f\u0443\u043b\u044f\u0446\u0438\u0438.<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-6cfa4137dfc92b459f4fa98f9a231813\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-b6da6e62d59d1bc65a6b5d7f7244da05\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><strong>\u0420\u0435\u0437\u0443\u043b\u044c\u0442\u0430\u0442\u044b<\/strong>. \u0412 \u0441\u0442\u0430\u0442\u044c\u0435 \u043f\u0440\u0435\u0434\u043b\u043e\u0436\u0435\u043d \u043c\u0435\u0442\u043e\u0434 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u043c\u0430\u043d\u0438\u043f\u0443\u043b\u044f\u0446\u0438\u043e\u043d\u043d\u044b\u043c \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u043e\u043c \u0432 \u0443\u0441\u043b\u043e\u0432\u0438\u044f\u0445 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u043d\u0435\u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u043d\u043e\u0441\u0442\u0438 \u0434\u0438\u043d\u0430\u043c\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u0441\u0440\u0435\u0434\u044b, \u043e\u0431\u0443\u0441\u043b\u043e\u0432\u043b\u0435\u043d\u043d\u043e\u0439 \u0448\u0443\u043c\u0430\u043c\u0438 \u0441\u0435\u043d\u0441\u043e\u0440\u043e\u0432, \u0437\u0430\u0434\u0435\u0440\u0436\u043a\u0430\u043c\u0438 \u043f\u0435\u0440\u0435\u0434\u0430\u0447\u0438 \u0434\u0430\u043d\u043d\u044b\u0445, \u0447\u0430\u0441\u0442\u0438\u0447\u043d\u043e\u0439 \u043d\u0430\u0431\u043b\u044e\u0434\u0430\u0435\u043c\u043e\u0441\u0442\u044c\u044e \u0438 \u043d\u0435\u043f\u0440\u0435\u0434\u0441\u043a\u0430\u0437\u0443\u0435\u043c\u044b\u043c\u0438 \u0438\u0437\u043c\u0435\u043d\u0435\u043d\u0438\u044f\u043c\u0438 \u0440\u0430\u0441\u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u044f \u043e\u0431\u044a\u0435\u043a\u0442\u043e\u0432. \u0420\u0430\u0437\u0440\u0430\u0431\u043e\u0442\u0430\u043d\u0430 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0430\u044f \u043c\u043e\u0434\u0435\u043b\u044c \u0441\u0435\u043d\u0441\u043e\u0440\u043d\u043e\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u044b, \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0438\u0432\u0430\u044e\u0449\u0430\u044f \u0443\u0441\u0442\u043e\u0439\u0447\u0438\u0432\u043e\u0435 \u0440\u0430\u0441\u043f\u043e\u0437\u043d\u0430\u0432\u0430\u043d\u0438\u0435 \u043e\u0431\u044a\u0435\u043a\u0442\u043e\u0432 \u043f\u0440\u0438 \u043d\u0430\u043b\u0438\u0447\u0438\u0438 \u0448\u0443\u043c\u043e\u0432 \u0438 \u0434\u0438\u043d\u0430\u043c\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u0432\u043e\u0437\u043c\u0443\u0449\u0435\u043d\u0438\u0439. \u041f\u0440\u0435\u0434\u043b\u043e\u0436\u0435\u043d\u0430 \u0430\u0440\u0445\u0438\u0442\u0435\u043a\u0442\u0443\u0440\u0430 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u0432\u043a\u043b\u044e\u0447\u0430\u044e\u0449\u0430\u044f \u043c\u043e\u0434\u0443\u043b\u044c \u0444\u0438\u043b\u044c\u0442\u0440\u0430\u0446\u0438\u0438 \u0434\u0430\u043d\u043d\u044b\u0445 \u0438 \u0434\u0438\u0441\u043a\u0440\u0435\u0442\u043d\u043e-\u0441\u043e\u0431\u044b\u0442\u0438\u0439\u043d\u044b\u0439 \u0443\u0440\u043e\u0432\u0435\u043d\u044c \u043f\u0440\u0438\u043d\u044f\u0442\u0438\u044f \u0440\u0435\u0448\u0435\u043d\u0438\u0439. \u041f\u0440\u043e\u0432\u0435\u0434\u0435\u043d\u0430 \u044d\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0430\u044f \u0432\u0435\u0440\u0438\u0444\u0438\u043a\u0430\u0446\u0438\u044f \u0432 \u0441\u0438\u043c\u0443\u043b\u044f\u0446\u0438\u043e\u043d\u043d\u043e\u0439 \u0438 \u043d\u0430\u0442\u0443\u0440\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435\u043c \u0448\u0435\u0441\u0442\u0438\u0437\u0432\u0435\u043d\u043d\u043e\u0433\u043e \u043c\u0430\u043d\u0438\u043f\u0443\u043b\u044f\u0442\u043e\u0440\u0430.<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-6cfa4137dfc92b459f4fa98f9a231813\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-30053277542cefd0ad04d02c46043051\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><strong>\u0417\u0430\u043a\u043b\u044e\u0447\u0435\u043d\u0438\u0435<\/strong>. \u041f\u043e\u043b\u0443\u0447\u0435\u043d\u043d\u044b\u0435 \u0440\u0435\u0437\u0443\u043b\u044c\u0442\u0430\u0442\u044b \u043f\u043e\u043a\u0430\u0437\u0430\u043b\u0438 \u0441\u043d\u0438\u0436\u0435\u043d\u0438\u0435 \u0432\u0435\u0440\u043e\u044f\u0442\u043d\u043e\u0441\u0442\u0438 \u043b\u043e\u0436\u043d\u043e\u0433\u043e \u0440\u0430\u0441\u043f\u043e\u0437\u043d\u0430\u0432\u0430\u043d\u0438\u044f \u0441\u043e\u0441\u0442\u043e\u044f\u043d\u0438\u0439 \u0434\u043e 0,024 % \u0438 \u0443\u043c\u0435\u043d\u044c\u0448\u0435\u043d\u0438\u0435 \u0432\u0440\u0435\u043c\u0435\u043d\u0438 \u0432\u044b\u043f\u043e\u043b\u043d\u0435\u043d\u0438\u044f \u043c\u0430\u043d\u0438\u043f\u0443\u043b\u044f\u0446\u0438\u043e\u043d\u043d\u044b\u0445 \u043e\u043f\u0435\u0440\u0430\u0446\u0438\u0439 \u043d\u0430 15 % \u043f\u043e \u0441\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u044e \u0441 \u0431\u0430\u0437\u043e\u0432\u044b\u043c \u0434\u0435\u0442\u0435\u0440\u043c\u0438\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u043d\u044b\u043c \u043f\u043e\u0434\u0445\u043e\u0434\u043e\u043c.<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-6cfa4137dfc92b459f4fa98f9a231813\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-9051adc05911dbcfb6fbd9a7cd6c8b75\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><em><strong>\u041a\u043b\u044e\u0447\u0435\u0432\u044b\u0435 \u0441\u043b\u043e\u0432\u0430<\/strong>: <\/em>\u0446\u0432\u0435\u0442\u043d\u0430\u044f \u0441\u0435\u0442\u044c \u041f\u0435\u0442\u0440\u0438, \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u043e\u043c, \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0430\u044f \u043d\u0435\u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u043d\u043e\u0441\u0442\u044c, \u0430\u0434\u0430\u043f\u0442\u0438\u0432\u043d\u043e\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435, \u0431\u0430\u0439\u0435\u0441\u043e\u0432\u0441\u043a\u0430\u044f \u0444\u0438\u043b\u044c\u0442\u0440\u0430\u0446\u0438\u044f \u0434\u0430\u043d\u043d\u044b\u0445<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-6cfa4137dfc92b459f4fa98f9a231813\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-ddbabbf360f6d6384a32883cbe5edd25\" style=\"margin-top:0;margin-bottom:0;font-size:12px;line-height:1.4\"><strong>\u0414\u043b\u044f \u0446\u0438\u0442\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f.<\/strong> \u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d \u0424. \u0412., \u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432 \u0414. \u0418., \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c. \u0410., \u0414\u044b\u0448\u0435\u043a\u043e\u0432 \u0410. \u0418. \u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u043e\u043c \u0432 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u043d\u0435\u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u043d\u043e\u0439 \u0434\u0438\u043d\u0430\u043c\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435\u043c \u0430\u043f\u043f\u0430\u0440\u0430\u0442\u0430 \u0441\u0435\u0442\u0435\u0439 \u041f\u0435\u0442\u0440\u0438 \/\/ \u0418\u0437\u0432\u0435\u0441\u0442\u0438\u044f \u041a\u0430\u0431\u0430\u0440\u0434\u0438\u043d\u043e-\u0411\u0430\u043b\u043a\u0430\u0440\u0441\u043a\u043e\u0433\u043e \u043d\u0430\u0443\u0447\u043d\u043e\u0433\u043e \u0446\u0435\u043d\u0442\u0440\u0430 \u0420\u0410\u041d. 2026. \u0422. 28. \u2116 1. \u0421. 25\u201338. DOI: 10.35330\/1991-6639-2026-28-1-25-38<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-8f50c26b3cf7553d4e64da7af5e89fd2\" style=\"margin-top:0;margin-bottom:0;font-size:12px;line-height:1.4\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-9c11375079896950bf722dcb53607804\" style=\"font-size:12px\">\u00a9&nbsp;&nbsp; \u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d \u0424.&nbsp;\u0412., \u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432 \u0414.&nbsp;\u0418., \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c.&nbsp;\u0410., \u0414\u044b\u0448\u0435\u043a\u043e\u0432 \u0410.&nbsp;\u0418., 2026<\/p>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-28a18568 wp-block-group-is-layout-flex\" style=\"margin-top:var(--wp--preset--spacing--20);margin-bottom:var(--wp--preset--spacing--20);padding-top:0;padding-bottom:0\">\n<figure class=\"wp-block-image size-full is-style-default\"><img loading=\"lazy\" decoding=\"async\" width=\"80\" height=\"28\" src=\"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2026\/03\/image.png\" alt=\"\" class=\"wp-image-7229\"\/><\/figure>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-e7d4a1f41742d95f8b9d0836635b84c0\" style=\"margin-top:var(--wp--preset--spacing--20);margin-right:0;margin-bottom:0;margin-left:0;font-size:12px;line-height:1.4\">\u041a\u043e\u043d\u0442\u0435\u043d\u0442 \u0434\u043e\u0441\u0442\u0443\u043f\u0435\u043d \u043f\u043e\u0434 \u043b\u0438\u0446\u0435\u043d\u0437\u0438\u0435\u0439&nbsp;<a href=\"http:\/\/creativecommons.org\/licenses\/by\/4.0\/\" target=\"_blank\" rel=\"noreferrer noopener\">Creative Commons Attribution 4.0 License<\/a><\/p>\n<\/div>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-8f50c26b3cf7553d4e64da7af5e89fd2\" style=\"margin-top:0;margin-bottom:0;font-size:12px;line-height:1.4\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-8f50c26b3cf7553d4e64da7af5e89fd2\" style=\"margin-top:0;margin-bottom:0;font-size:12px;line-height:1.4\"><\/p>\n\n\n\n<details class=\"wp-block-details has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-7c5467513dad6d12d9983f427ab5df96 is-layout-flow wp-block-details-is-layout-flow\" style=\"font-size:14px\"><summary><strong>\u0421\u043f\u0438\u0441\u043e\u043a \u043b\u0438\u0442\u0435\u0440\u0430\u0442\u0443\u0440\u044b<\/strong><\/summary>\n<ol class=\"wp-block-list\">\n<li class=\"has-foreground-color has-text-color has-link-color wp-elements-9482bfebae568fec25caba1757d2d00a\"><em>Thrun S., Burgard W., Fox D<\/em>. Probabilistic robotics. MIT Press, 2005. 647 p. DOI: 10.1162\/artl.2008.14.2.227<\/li>\n\n\n\n<li><em>Lima P.U. <\/em>A Bayesian approach to sensor fusion in autonomous sensor and robot networks. IEEE Instrumentation &amp; Measurement Magazine. 2007. Vol. 10. No. 3. Pp. 22\u201327. DOI: 10.1109\/MIM.2007.4284253<\/li>\n\n\n\n<li><em>Park B.H., Kuc T.Y., Lee J.S.<\/em> Adaptive learning control of uncertain robotic systems. International Journal of Control. 1996. Vol. 65. No. 5. Pp. 725\u2013744. DOI: 10.1080\/00207179608921719<\/li>\n\n\n\n<li><em>Zhang Y.Y. et al.<\/em> Adaptive control for robots to handle uncertainties, delays and state constraints. IFAC PapersOnLine. 2023. Vol. 56. No. 2. Pp. 1234\u20131240. DOI: 10.1109\/TCYB.2015.2411285<\/li>\n\n\n\n<li><em>Ziparo V.A. et al<\/em>. Petri net plans: A framework for collaboration and coordination in multirobot systems. Autonomous Agents and Multi-Agent Systems. 2011. Vol. 23. No. 3. Pp. 344\u2013383. DOI: 10.1007\/s10458-010-9146-1<\/li>\n\n\n\n<li><em>Westergaard M.<\/em> Verifying parallel algorithms and programs using coloured petri nets. Transactions on Petri Nets and Other Models of Concurrency VI &#8212; Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. Pp. 146\u2013168. DOI: 10.1007\/978-3-642-35179-2_7<\/li>\n\n\n\n<li><em>Westergaard M., Maggi F.M.<\/em> Modeling and verification of a protocol for operational support using coloured Petri nets. International Conference on Application and Theory of Petri Nets and Concurrency. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. Pp. 169\u2013188. DOI: 10.1007\/978-3-642-21834-7_10<\/li>\n\n\n\n<li><em>Wang R., Kristensen L.M., Stolz V.<\/em> MBT\/CPN: a tool for model-based software testing of distributed systems protocols using coloured Petri nets. International Conference on Verification and Evaluation of Computer and Communication Systems. Cham: Springer International Publishing, 2018. Pp. 97\u2013113. DOI: 10.1007\/978-3-030-00359-3_7<\/li>\n\n\n\n<li><em>Liu Q. et al<\/em>. A Logic Petri net model for dynamic multi agent game decision making. Engineering Applications of Artificial Intelligence. 2024. Vol. 127. Pp. 107\u2013120. DOI: 10.1016\/j.dajour.2023.100320<\/li>\n\n\n\n<li><em>Paj\u0105k M.<\/em> Assessment of using bayesian nets and Petri nets in additive manufacturing technology selection. Procedia CIRP. 2021. Vol. 99. Pp. 123\u2013130. DOI: 10.35784\/acs-2021-01<\/li>\n\n\n\n<li><em>Hu F., Wang W., Zhou J. et al. <\/em>Petri nets based digital twin drives dual arm cooperative manipulation. Computers in Industry. 2023. Vol. 147. Art. 103880. DOI: 10.1016\/j.compind.2023.103880<\/li>\n\n\n\n<li><em>Castellano-Quero M., Castillo-L\u00f3pez M., Fern\u00e1ndez-Madrigal J.A. et al.<\/em> A multidimensional Bayesian architecture for real time anomaly detection and recovery in mobile robot sensory systems. Engineering Applications of Artificial Intelligence. 2023. Vol. 125. Art. 106673. DOI: 10.1016\/j.engappai.2023.106673<\/li>\n\n\n\n<li><em>Zhong X., Zhong X., Hu H., Peng X. <\/em>A nonparametric learning visual servoing framework for robot manipulator in unstructured environments. Neurocomputing. 2021. Vol. 452. Pp. 1\u201312. DOI: 10.1016\/j.neucom.2021.01.02<\/li>\n\n\n\n<li><em>Lv P., Luo G., Ma Z., Li S., Yin X.<\/em> Optimal multi robot path planning for cyclic tasks using Petri nets. Control Engineering Practice. 2023. Vol. 138. Art. 105600. DOI: 10.1016\/j.conengprac.2023.105600<\/li>\n<\/ol>\n\n\n\n<p><\/p>\n<\/details>\n\n\n\n<details class=\"wp-block-details has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-cb3b73e7ed1bc0b183bdea46aff89cb2 is-layout-flow wp-block-details-is-layout-flow\"><summary><strong>\u0418\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u044f \u043e\u0431 \u0430\u0432\u0442\u043e\u0440\u0430\u0445<\/strong><\/summary>\n<p class=\"has-foreground-color has-text-color has-link-color wp-elements-5e436a687b25a96b4877c342ad8c7dc0\"><strong>\u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d \u0424\u0451\u0434\u043e\u0440 \u0412\u043b\u0430\u0434\u0438\u043c\u0438\u0440\u043e\u0432\u0438\u0447<\/strong>, \u0430\u0441\u043f\u0438\u0440\u0430\u043d\u0442 \u0421\u041c7, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c\u0435\u043d\u0438 \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0443\u043b. 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f, 5, \u0441. 1;<br>\u0438\u043d\u0436\u0435\u043d\u0435\u0440 (\u041d\u0422\u0420), \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440\u0435\u0443\u043b\u043e\u043a, 1;<br>feodor-dev@ya.ru, ORCID: https:\/\/orcid.org\/0009-0000-2639-9521, SPIN-\u043a\u043e\u0434: 7738-5724<br><strong>\u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432 \u0414\u0435\u043d\u0438\u0441 \u0418\u0433\u043e\u0440\u0435\u0432\u0438\u0447<\/strong>, \u0430\u0441\u043f\u0438\u0440\u0430\u043d\u0442 \u0421\u041c7, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c\u0435\u043d\u0438 \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0443\u043b. 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f, 5, \u0441. 1;<br>\u0438\u043d\u0436\u0435\u043d\u0435\u0440 (\u041d\u0422\u0420), \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440\u0435\u0443\u043b\u043e\u043a, 1;<br>denisarabadzhiev13@gmail.com, ORCID: https:\/\/orcid.org\/0009-0000-5023-4073<br><strong>\u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c\u0430\u0434\u0438\u043d \u0410\u0440\u0442\u0443\u0440\u043e\u0432\u0438\u0447<\/strong>, \u043a\u0430\u043d\u0434. \u0442\u0435\u0445. \u043d\u0430\u0443\u043a, \u0434\u043e\u0446\u0435\u043d\u0442, \u0437\u0430\u0432\u0435\u0434\u0443\u044e\u0449\u0438\u0439 \u043b\u0430\u0431\u043e\u0440\u0430\u0442\u043e\u0440\u0438\u0435\u0439, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440\u0435\u0443\u043b\u043e\u043a, 1;<br>\u0434\u043e\u0446\u0435\u043d\u0442 \u043a\u0430\u0444\u0435\u0434\u0440\u044b \u00ab\u0420\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0438 \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0438\u043a\u0430\u00bb, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c\u0435\u043d\u0438 \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0443\u043b. 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f, 5, \u0441. 1;<br>shereuzhev@gmail.com, ORCID: https:\/\/orcid.org\/0000-0003-2352-992X, SPIN-\u043a\u043e\u0434: 1734-9056<br><strong>\u0414\u044b\u0448\u0435\u043a\u043e\u0432 \u0410\u0440\u0442\u0443\u0440 \u0418\u0437\u043d\u0430\u0443\u0440\u043e\u0432\u0438\u0447<\/strong>, \u043a\u0430\u043d\u0434. \u0442\u0435\u0445. \u043d\u0430\u0443\u043a, \u0432\u0435\u0434\u0443\u0449\u0438\u0439 \u0438\u043d\u0436\u0435\u043d\u0435\u0440, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440\u0435\u0443\u043b\u043e\u043a, 1;<br>a.I.dyshekov@gmail.com, ORCID: https:\/\/orcid.org\/0009-0002-4865-5041, SPIN-\u043a\u043e\u0434: 1159-0974<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color wp-elements-6fd2a265d78d8e9d07d63a56a0895fa0\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color wp-elements-6fd2a265d78d8e9d07d63a56a0895fa0\"><\/p>\n\n\n\n<p><\/p>\n<\/details>\n\n\n\n<details class=\"wp-block-details 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FSFS-2024-0012).<\/p>\n<\/details>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u043e\u043c \u0432 \u0441\u0442\u043e\u0445\u0430\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u043d\u0435\u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u043d\u043e\u0439 \u0434\u0438\u043d\u0430\u043c\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435\u043c \u0430\u043f\u043f\u0430\u0440\u0430\u0442\u0430 \u0441\u0435\u0442\u0435\u0439 \u041f\u0435\u0442\u0440\u0438 \u0424. \u0412. \u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d, \u0414. \u0418. \u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432, \u041c. \u0410. 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\u041f\u0435\u0442\u0440\u0438, \u0432\u043f\u0435\u0440\u0432\u044b\u0435 \u0440\u0435\u0430\u043b\u0438\u0437\u043e\u0432\u0430\u043d\u043d\u043e\u0439 \u0432 \u0432\u0438\u0434\u0435 \u0438\u0435\u0440\u0430\u0440\u0445\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043d\u043e\u0439 \u0430\u0440\u0445\u0438\u0442\u0435\u043a\u0442\u0443\u0440\u044b, \u0433\u0434\u0435 \u0430\u043f\u043e\u0441\u0442\u0435\u0440\u0438\u043e\u0440\u043d\u044b\u0435 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-6649","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>28.1.2 - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f 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