{"id":9853,"date":"2026-04-05T10:21:47","date_gmt":"2026-04-05T09:21:47","guid":{"rendered":"https:\/\/izvestiyakbncran.ru\/?page_id=9853"},"modified":"2026-04-09T10:25:41","modified_gmt":"2026-04-09T09:25:41","slug":"25-6-24","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/25-6-24\/","title":{"rendered":"25.6.24"},"content":{"rendered":"\n<h1 class=\"wp-block-heading has-foreground-color has-text-color has-link-color has-lora-font-family wp-elements-01613436884518db7e6fd624cc3099f1\" style=\"font-size:22px\"><strong>\u041c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u0435\u043b\u044c\u0441\u043a\u043e\u0445\u043e\u0437\u044f\u0439\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u043c\u0438<br>\u0440\u043e\u0431\u043e\u0442\u0430\u043c\u0438 \u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435\u043c \u043a\u043e\u043d\u0435\u0447\u043d\u044b\u0445 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u043e\u0432 \u0438 \u043e\u043d\u0442\u043e\u043b\u043e\u0433\u0438\u0439<\/strong><\/h1>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-small-font-size wp-elements-f9a30f5d3ef52290f494ef25909ecc60\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0\"><strong>\u041c. \u0410. \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432, \u0424. \u0412. \u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d, \u0414. \u0418. \u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432, \u041c. \u0410. \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432<\/strong><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-small-font-size wp-elements-d51d7754a92a648abb7d04ae8768dffa\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-small-font-size wp-elements-d51d7754a92a648abb7d04ae8768dffa\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0\"><\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color has-lora-font-family has-small-font-size wp-elements-d51d7754a92a648abb7d04ae8768dffa\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0\"><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\" style=\"margin-top:var(--wp--preset--spacing--20);margin-bottom:0\"\/>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-24a27e19 wp-block-group-is-layout-flex\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0\">\n<p class=\"has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-9f3c3253df43e3976d939c0040b8a252\" style=\"color:#5b1919;text-decoration:underline\"><strong>\u0417\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u044c \u043f\u043e\u043b\u043d\u044b\u0439 \u0442\u0435\u043a\u0441\u0442<\/strong><\/p>\n\n\n\n<div class=\"wp-block-group is-vertical is-layout-flex wp-container-core-group-is-layout-9151b400 wp-block-group-is-layout-flex\" style=\"min-height:0px;margin-top:0;margin-bottom:0;padding-top:0;padding-bottom:0\">\n<div class=\"wp-block-buttons is-content-justification-left is-layout-flex wp-container-core-buttons-is-layout-15bf754d wp-block-buttons-is-layout-flex\" style=\"margin-top:0;margin-bottom:0;padding-top:0;padding-right:0;padding-bottom:0;padding-left:0\">\n<div class=\"wp-block-button has-custom-width wp-block-button__width-100 is-style-outline is-style-outline--1\"><a class=\"wp-block-button__link has-background-background-color has-text-color has-background has-link-color has-border-color has-small-font-size has-custom-font-size wp-element-button\" href=\"http:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2026\/04\/24-sher.pdf\" 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-7459b367b9ca3750d7891f13941b6a3b\" style=\"margin-top:0;margin-bottom:0;line-height:1.4\"><strong><em>\u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f<\/em><\/strong>. \u0412 \u0441\u0442\u0430\u0442\u044c\u0435 \u0440\u0430\u0441\u0441\u043c\u043e\u0442\u0440\u0435\u043d \u0441\u043f\u043e\u0441\u043e\u0431 \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0440\u0430\u0431\u043e\u0442\u044b \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0433\u0440\u0443\u043f\u043f\u043e\u0439 \u0440\u043e\u0431\u043e\u0442\u043e\u0432. \u041f\u0440\u0435\u0434\u043b\u043e\u0436\u0435\u043d\u0430 \u0431\u0430\u0437\u0430 \u0437\u043d\u0430\u043d\u0438\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u043b\u0435\u043d\u043d\u0430\u044f \u0432 \u0432\u0438\u0434\u0435 \u043e\u043d\u0442\u043e\u043b\u043e\u0433\u0438\u0438. \u041e\u043f\u0438\u0441\u0430\u043d\u044b \u043a\u043e\u043d\u0435\u0447\u043d\u044b\u0435 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u044b \u0432\u0435\u0434\u0443\u0449\u0435\u0433\u043e \u0438 \u0432\u0435\u0434\u043e\u043c\u043e\u0433\u043e \u0440\u043e\u0431\u043e\u0442\u043e\u0432. \u0420\u0430\u0441\u0441\u043c\u043e\u0442\u0440\u0435\u043d \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c \u043d\u0430\u0437\u043d\u0430\u0447\u0435\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u0447 \u043e\u0442\u0434\u0435\u043b\u044c\u043d\u044b\u043c \u0440\u043e\u0431\u043e\u0442\u0430\u043c \u0438 \u0441\u043a\u043e\u043d\u0444\u0438\u0433\u0443\u0440\u0438\u0440\u043e\u0432\u0430\u043d\u044b \u0438\u043d\u0441\u0442\u0440\u0443\u043c\u0435\u043d\u0442\u044b \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u0435\u043c \u0438 \u0440\u0430\u0441\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u0438\u0435\u043c \u0437\u0430\u0434\u0430\u0447 \u0434\u043b\u044f \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0435\u043d\u0438\u044f \u0435\u0434\u0438\u043d\u043e\u0439 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u044b \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f. \u0420\u0430\u0441\u0441\u043c\u043e\u0442\u0440\u0435\u043d \u0432\u0435\u043d\u0433\u0435\u0440\u0441\u043a\u0438\u0439 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c \u0432 \u043a\u043e\u043d\u0442\u0435\u043a\u0441\u0442\u0435 \u043d\u0430\u0437\u043d\u0430\u0447\u0435\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u0447 \u043e\u0442\u0434\u0435\u043b\u044c\u043d\u044b\u043c \u0440\u043e\u0431\u043e\u0442\u0430\u043c, \u0434\u043b\u044f \u043e\u0446\u0435\u043d\u043a\u0438 \u043f\u0443\u0442\u0435\u0439 \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u044f \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043b\u0441\u044f \u043f\u043b\u0430\u043d\u0438\u0440\u043e\u0432\u0449\u0438\u043a \u0410* (Astar). \u0421\u043a\u043e\u043d\u0444\u0438\u0433\u0443\u0440\u0438\u0440\u043e\u0432\u0430\u043d\u044b \u0438\u043d\u0441\u0442\u0440\u0443\u043c\u0435\u043d\u0442\u044b \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u0435\u043c \u0438 \u0440\u0430\u0441\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u0438\u0435\u043c \u0437\u0430\u0434\u0430\u0447 \u0434\u043b\u044f \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0435\u043d\u0438\u044f \u0435\u0434\u0438\u043d\u043e\u0439 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u044b \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f. \u041f\u043e\u043b\u0443\u0447\u0435\u043d\u043d\u044b\u0435 \u0440\u0435\u0437\u0443\u043b\u044c\u0442\u0430\u0442\u044b \u043f\u0440\u0438\u043c\u0435\u043d\u0438\u043c\u044b \u0432 \u0437\u0430\u0434\u0430\u0447\u0430\u0445 \u043e\u043f\u0442\u0438\u043c\u0438\u0437\u0430\u0446\u0438\u0438 \u0432\u0437\u0430\u0438\u043c\u043e\u0434\u0435\u0439\u0441\u0442\u0432\u0438\u044f \u043c\u043d\u043e\u0433\u043e\u0430\u0433\u0435\u043d\u0442\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\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 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-4d48872c4bced3cf85913173d87370f0\" 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>\u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435, \u043e\u043d\u0442\u043e\u043b\u043e\u0433\u0438\u044f, \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0430\u044f \u0441\u0438\u0441\u0442\u0435\u043c\u0430, \u043a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0430\u0432\u0442\u043e\u043c\u0430\u0442<\/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-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 wp-elements-ce8f0ebc1385a27629dc0fcf20dbe312\" 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> \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c. \u0410., \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. \u041c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u0435\u043b\u044c\u0441\u043a\u043e\u0445\u043e\u0437\u044f\u0439\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u043c\u0438 \u0440\u043e\u0431\u043e\u0442\u0430\u043c\u0438 \u0441 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DOI: 10.35330\/1991-6639-2023-6-116-247-263<\/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-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 has-extra-small-font-size wp-elements-e961e7f2429dc6fa750bbd064f1d13e0 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-38f70f456f28430854d97fa214512d01\"><strong>\u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c\u0430\u0434\u0438\u043d \u0410\u0440\u0442\u0443\u0440\u043e\u0432\u0438\u0447<\/strong>, \u0441\u0442. \u043f\u0440\u0435\u043f\u043e\u0434\u0430\u0432\u0430\u0442\u0435\u043b\u044c \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. \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f \u0443\u043b\u0438\u0446\u0430, 5, \u043a\u043e\u0440\u043f. 1;<br>shereuzhev@bmstu.ru, ORCID: https:\/\/orcid.org\/0000-0003-2352-992\u0425<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>, \u0441\u0442\u0443\u0434\u0435\u043d\u0442-\u043c\u0430\u0433\u0438\u0441\u0442\u0440 \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. \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f \u0443\u043b\u0438\u0446\u0430, 5, \u043a\u043e\u0440\u043f. 1;<br>arabadzhievdi@student.bmstu.ru<br><strong>\u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d \u0424\u0435\u0434\u043e\u0440 \u0412\u043b\u0430\u0434\u0438\u043c\u0438\u0440\u043e\u0432\u0438\u0447<\/strong>, \u0441\u0442\u0443\u0434\u0435\u043d\u0442-\u043c\u0430\u0433\u0438\u0441\u0442\u0440 \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. \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f \u0443\u043b\u0438\u0446\u0430, 5, \u043a\u043e\u0440\u043f. 1;<br>feodor-dev@ya.ru<br><strong>\u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c\u0430\u0440\u0430\u0442 \u0410\u0440\u0442\u0443\u0440\u043e\u0432\u0438\u0447<\/strong>, \u0430\u0441\u043f\u0438\u0440\u0430\u043d\u0442 \u043a\u0430\u0444\u0435\u0434\u0440\u044b \u00ab\u0410\u0433\u0440\u043e\u043d\u043e\u043c\u0438\u044f\u00bb, \u041a\u0430\u0431\u0430\u0440\u0434\u0438\u043d\u043e-\u0411\u0430\u043b\u043a\u0430\u0440\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0430\u0433\u0440\u0430\u0440\u043d\u044b\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c. \u0412. \u041c. \u041a\u043e\u043a\u043e\u0432\u0430;<br>360030, \u0420\u043e\u0441\u0441\u0438\u044f, \u0433. \u041d\u0430\u043b\u044c\u0447\u0438\u043a, \u043f\u0440-\u0442 \u041b\u0435\u043d\u0438\u043d\u0430, 1\u0432;<br>\u0441\u0442\u0430\u0436\u0435\u0440-\u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u0442\u0435\u043b\u044c \u043b\u0430\u0431\u043e\u0440\u0430\u0442\u043e\u0440\u0438\u0438 \u00ab\u0418\u043d\u0442\u0435\u043b\u043b\u0435\u043a\u0442\u0443\u0430\u043b\u044c\u043d\u044b\u0435 \u0441\u0440\u0435\u0434\u044b \u043e\u0431\u0438\u0442\u0430\u043d\u0438\u044f\u00bb, \u0418\u043d\u0441\u0442\u0438\u0442\u0443\u0442 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0442\u0438\u043a\u0438 \u0438 \u043f\u0440\u043e\u0431\u043b\u0435\u043c \u0440\u0435\u0433\u0438\u043e\u043d\u0430\u043b\u044c\u043d\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u2013 \u0444\u0438\u043b\u0438\u0430\u043b \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;<br>360000, \u0420\u043e\u0441\u0441\u0438\u044f, \u041d\u0430\u043b\u044c\u0447\u0438\u043a, \u0443\u043b. \u0418. \u0410\u0440\u043c\u0430\u043d\u0434, 37-\u0430;<br>marat.shereuzhev07@mail.ru, ORCID: https:\/\/orcid.org\/0000-0001-7368-4691<\/p>\n\n\n\n<p class=\"has-foreground-color has-text-color has-link-color wp-elements-6fd2a265d78d8e9d07d63a56a0895fa0\"><\/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 wp-elements-162623800ce2c7ad6961d9dd68bc01f5 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-7d5d318ef54aa96c1250ae9164bc3c4e\"><em>\u041d\u0430\u0433\u043e\u0435\u0432 \u0417. \u0412., \u0428\u0443\u0433\u0430\u043d\u043e\u0432 \u0412. \u041c., \u0411\u0436\u0438\u0445\u0430\u0442\u043b\u043e\u0432 \u041a. \u0427. \u0438 \u0434\u0440.<\/em> \u041f\u0435\u0440\u0441\u043f\u0435\u043a\u0442\u0438\u0432\u044b \u043f\u043e\u0432\u044b\u0448\u0435\u043d\u0438\u044f \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u0438\u0442\u0435\u043b\u044c\u043d\u043e\u0441\u0442\u0438 \u0438 \u044d\u0444\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e\u0441\u0442\u0438 \u0441\u0435\u043b\u044c\u0441\u043a\u043e\u0445\u043e\u0437\u044f\u0439\u0441\u0442\u0432\u0435\u043d\u043d\u043e\u0433\u043e \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u0441\u0442\u0432\u0430 \u0441 \u043f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435\u043c \u0438\u043d\u0442\u0435\u043b\u043b\u0435\u043a\u0442\u0443\u0430\u043b\u044c\u043d\u043e\u0439 \u0438\u043d\u0442\u0435\u0433\u0440\u0438\u0440\u043e\u0432\u0430\u043d\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u044b \/\/ \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. 2021. \u2116 6(104). \u0421. 155\u2013165.<\/li>\n\n\n\n<li><em>\u0417\u0435\u043d\u043a\u0435\u0432\u0438\u0447 \u0421. \u041b., \u0427\u0436\u0443 \u0425\u0443\u0430, \u0425\u043e \u0426\u0437\u044f\u043d\u044c\u0432\u0435\u043d\u044c<\/em>, \u0414\u0432\u0438\u0436\u0435\u043d\u0438\u0435 \u0433\u0440\u0443\u043f\u043f\u044b \u043c\u043e\u0431\u0438\u043b\u044c\u043d\u044b\u0445 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u0432 \u0441\u0442\u0440\u043e\u044e \u0442\u0438\u043f\u0430 \u00ab\u043a\u043e\u043d\u0432\u043e\u0439\u00bb \u2013 \u0442\u0435\u043e\u0440\u0438\u044f, \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0438 \u044d\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442 \/\/ IV \u0412\u0441\u0435\u0440\u043e\u0441\u0441\u0438\u0439\u0441\u043a\u0438\u0439 \u043d\u0430\u0443\u0447\u043d\u043e-\u043f\u0440\u0430\u043a\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0441\u0435\u043c\u0438\u043d\u0430\u0440 \u00ab\u0411\u0435\u0441\u043f\u0438\u043b\u043e\u0442\u043d\u044b\u0435 \u0442\u0440\u0430\u043d\u0441\u043f\u043e\u0440\u0442\u043d\u044b\u0435 \u0441\u0440\u0435\u0434\u0441\u0442\u0432\u0430 \u0441 \u044d\u043b\u0435\u043c\u0435\u043d\u0442\u0430\u043c\u0438 \u0438\u0441\u043a\u0443\u0441\u0441\u0442\u0432\u0435\u043d\u043d\u043e\u0433\u043e \u0438\u043d\u0442\u0435\u043b\u043b\u0435\u043a\u0442\u0430\u00bb, 5\u20136 \u043e\u043a\u0442\u044f\u0431\u0440\u044f 2017 \u0433., \u041a\u0430\u0437\u0430\u043d\u044c: \u0442\u0440\u0443\u0434\u044b \u0441\u0435\u043c\u0438\u043d\u0430\u0440\u0430, \u043f\u043e\u0434 \u0440\u0435\u0434. \u0415. \u0410. \u041c\u0430\u0433\u0438\u0434\u0430, \u0412. \u0415. \u041f\u0430\u0432\u043b\u043e\u0432\u0441\u043a\u043e\u0433\u043e, \u041a. \u0421. \u042f\u043a\u043e\u0432\u043b\u0435\u0432\u0430. \u041a\u0430\u0437\u0430\u043d\u044c: \u0426\u0418\u0422, 2017. \u0421. 136\u2013147.<\/li>\n\n\n\n<li><em>Shereuzhev M., Mostakov N., Vorotnikov S. <\/em>Development of the Elements of a Control System for a Mobile Agricultural Robot Operating in a Group. Modeling in Engineering. Moskow, \u0421. 11\u201318. <\/li>\n\n\n\n<li><em>\u041d\u0430\u0433\u043e\u0435\u0432 \u0417. \u0412., \u041d\u0430\u0433\u043e\u0435\u0432\u0430 \u041e. \u0412.<\/em> \u0418\u0437\u0432\u043b\u0435\u0447\u0435\u043d\u0438\u0435 \u0437\u043d\u0430\u043d\u0438\u0439 \u0438\u0437 \u043c\u043d\u043e\u0433\u043e\u043c\u043e\u0434\u0430\u043b\u044c\u043d\u044b\u0445 \u043f\u043e\u0442\u043e\u043a\u043e\u0432 \u043d\u0435\u0441\u0442\u0440\u0443\u043a\u0442\u0443\u0440\u0438\u0440\u043e\u0432\u0430\u043d\u043d\u044b\u0445 \u0434\u0430\u043d\u043d\u044b\u0445 \u043d\u0430 \u043e\u0441\u043d\u043e\u0432\u0435 \u0441\u0430\u043c\u043e\u043e\u0440\u0433\u0430\u043d\u0438\u0437\u0430\u0446\u0438\u0438 \u043c\u0443\u043b\u044c\u0442\u0438\u0430\u0433\u0435\u043d\u0442\u043d\u043e\u0439 \u043a\u043e\u0433\u043d\u0438\u0442\u0438\u0432\u043d\u043e\u0439 \u0430\u0440\u0445\u0438\u0442\u0435\u043a\u0442\u0443\u0440\u044b \u043c\u043e\u0431\u0438\u043b\u044c\u043d\u043e\u0433\u043e \u0440\u043e\u0431\u043e\u0442\u0430 \/\/ \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. 2015. \u2116 6(68). \u0422. 2. \u0421. 145\u2013152.<\/li>\n\n\n\n<li><em>Nazarova A.V., Huo J., Zenkevich S.L. <\/em>Dynamic switching of multi-agent fromation in unknown obstacle environment. Studies in systems, decision and control. 2020. No. 261. Pp. 73\u201387.<\/li>\n\n\n\n<li><em>\u041d\u043e\u0441\u043a\u043e\u0432 \u0412. \u041f., \u0420\u0443\u0431\u0446\u043e\u0432 \u0418. \u0412.<\/em> \u041e\u043f\u044b\u0442 \u0440\u0435\u0448\u0435\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u0447\u0438 \u0430\u0432\u0442\u043e\u043d\u043e\u043c\u043d\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u0435\u043c \u043c\u043e\u0431\u0438\u043b\u044c\u043d\u044b\u0445 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \/\/ \u041c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0438\u043a\u0430, \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0437\u0430\u0446\u0438\u044f, \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435. 2005. \u2116 12. \u0421. 21\u201324.<\/li>\n\n\n\n<li><em>Hohimer C.<\/em> 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<li><em>Yang S.H., Lai W.H.<\/em> 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<li><em>Julian B.J., Gerkey B.P.<\/em> 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<li><em>Lacroix S., Nourbakhsh I.R., Tomatis N.<\/em> 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<li><em>Shi Z., Yu H., Zhang Q., Cheng Y. <\/em>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<li><em>Martinelli S., Giordani M., Lujak F.<\/em> 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<li><em>\u0413\u0430\u043b\u0438\u043d \u0420. \u0420.<\/em> \u0412\u0438\u0440\u0442\u0443\u0430\u043b\u044c\u043d\u044b\u0439 \u043f\u043e\u043b\u0438\u0433\u043e\u043d \u0434\u043b\u044f \u044d\u0444\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e\u0433\u043e \u0432\u0437\u0430\u0438\u043c\u043e\u0434\u0435\u0439\u0441\u0442\u0432\u0438\u044f \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u0432 \u043c\u043d\u043e\u0433\u043e\u0430\u0433\u0435\u043d\u0442\u043d\u043e\u0439 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u0435 \/\/ \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. 2018. \u2116 6\u20132(86). \u0421. 108\u2013113.<\/li>\n\n\n\n<li><em>Shamshiri R.R., Hameed I.A., Karkee M., Weltzien C. <\/em>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\n\n\n<p><\/p>\n<\/details>\n","protected":false},"excerpt":{"rendered":"<p>\u041c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u0435\u043b\u044c\u0441\u043a\u043e\u0445\u043e\u0437\u044f\u0439\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u043c\u0438\u0440\u043e\u0431\u043e\u0442\u0430\u043c\u0438 \u0441 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435\u043c \u043a\u043e\u043d\u0435\u0447\u043d\u044b\u0445 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u043e\u0432 \u0438 \u043e\u043d\u0442\u043e\u043b\u043e\u0433\u0438\u0439 \u041c. \u0410. \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432, \u0424. \u0412. \u0414\u0435\u0432\u044f\u0442\u043a\u0438\u043d, \u0414. \u0418. \u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432, \u041c. \u0410. \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u0417\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u044c \u043f\u043e\u043b\u043d\u044b\u0439 \u0442\u0435\u043a\u0441\u0442 \u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f. \u0412 \u0441\u0442\u0430\u0442\u044c\u0435 \u0440\u0430\u0441\u0441\u043c\u043e\u0442\u0440\u0435\u043d \u0441\u043f\u043e\u0441\u043e\u0431 \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0440\u0430\u0431\u043e\u0442\u044b \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0433\u0440\u0443\u043f\u043f\u043e\u0439 \u0440\u043e\u0431\u043e\u0442\u043e\u0432. \u041f\u0440\u0435\u0434\u043b\u043e\u0436\u0435\u043d\u0430 \u0431\u0430\u0437\u0430 \u0437\u043d\u0430\u043d\u0438\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u043b\u0435\u043d\u043d\u0430\u044f \u0432 \u0432\u0438\u0434\u0435 \u043e\u043d\u0442\u043e\u043b\u043e\u0433\u0438\u0438. \u041e\u043f\u0438\u0441\u0430\u043d\u044b \u043a\u043e\u043d\u0435\u0447\u043d\u044b\u0435 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u044b \u0432\u0435\u0434\u0443\u0449\u0435\u0433\u043e \u0438 \u0432\u0435\u0434\u043e\u043c\u043e\u0433\u043e \u0440\u043e\u0431\u043e\u0442\u043e\u0432. \u0420\u0430\u0441\u0441\u043c\u043e\u0442\u0440\u0435\u043d \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c [&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-9853","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - 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