Avtomatiza︠t︡si︠i︡a proektirovani︠i︡a i programmirovani︠i︡a robotov i GPS : sbornik nauchnykh trudov - Makarov, Igorʹ Mikhaĭlovich; Popov, E. P. (Evgeniĭ Pavlovich) (Robototekhnika i gibkie proizvodstvennye sistemy., 1988)