The 8 references with contexts in paper N. Morozova S., Н. Морозова С. (2016) “Фиксированная геометрическая структура строя в задаче управления движением строя роботов с динамически изменяющимся количеством роботов в группе // Fixed geometric formation structure in formation control problem for group of robots with dynamically changing number of robots in the group” / spz:neicon:technomag:y:2015:i:1:p:465-484

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Kalyaev I.A., Gaiduk A.R., Kapustyan S.G.Modeli i algoritmy kollektivnogo upravleniya v gruppakh robotov[Models and algorithms of collective control in groups of robots]. Moscow, Fizmatlit Publ., 2009. 280 p. (in Russian).
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    ÔÓÎÛ ̃‡Ú ̧ ÚÓÎ ̧ÍÓ ÎÓ͇Π̧ÌÛ ̨ ËÌÙÓχˆË ̨ (‚ Ô‰Â·ı ‰ÂÈÒڂˡ ÒÂÌÒÓÓ‚). ƒÎˇ ÛÔ‡‚ÎÂÌˡ ‡„ÂÌÚ‡ÏË ËÒÔÓÎ ̧ÁÛÂÚÒˇ ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌÓ ÛÔ‡‚ÎÂÌË (‰ËÌ ̊È ÛÔ‡‚Ρ ̨ ̆ËÈ ˆÂÌÚ ÓÚÒÛÚÒÚ‚ÛÂÚ). œÓÏËÏÓ ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌÓ„Ó ÛÔ‡‚ÎÂÌˡ ÏÓ„ÛÚ · ̊Ú ̧ ËÒÔÓÎ ̧ÁÓ‚‡Ì ̊ ˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊È Ë ÍÓÏ·ËÌËÓ‚‡ÌÌ ̊È ÔÓ‰ıÓ‰ ̊ (ÓÒÌÓ‚Ì ̊ ̃ÂÚ ̊ Í‡Ê‰Ó„Ó ËÁ ÔÓ‰ıÓ‰Ó‚, ‡ Ú‡ÍÊ ÔËÏÂ ̊ ‡ÎËÁ‡ˆËË ‡ÁÓ·‡Ì ̊ ‚ ÍÌË„Â ». ¿. ‡ÎˇÂ‚‡
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    ). ’ÓÌÓÎÓ„Ë ̃ÂÒÍË Ó‰ÌËÏ ËÁ ÔÂ‚ ̊ı ̄ËÓÍÓ ‡ÒÔÓÒÚ‡ÌÂÌÌ ̊ı ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊ı ÏÂÚÓ‰Ó‚ ÛÔ‡‚ÎÂÌˡ ‰‚ËÊÂÌËÂÏ „ÛÔÔ ̊ Ó·ÓÚÓ‚ ÒÚ‡ÎË ÏÂÚÓ‰ ̊, ÓÒÌÓ‚‡ÌÌ ̊ ̇ ÔË̈ËÔ‡ı ÍÓÌÒÂÌÒÛÒ‡, Ú. Â. ÛÒ‰ÌÂÌˡ [2,3], Ë ÔÓÚÂ̈ˇΠ̧Ì ̊ı ÙÛÌ͈ËÈ [4,5,6]. ƒ‡ÌÌ ̊ ÏÂÚÓ‰ ̊ ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ‰Îˇ  ̄ÂÌˡ Á‡‰‡ ̃ <ÒÚ‡ÈÌÓ„Ó> ‰‚ËÊÂÌˡ Í ÓÔ‰ÂÎÂÌÌÓÈ ˆÂÎË. œË Ò‚ÓÂÈ ÔÓÒÚÓÚÂ Ë ÛÒÚÓÈ ̃Ë‚ÓÒÚË Í ‚ ̊ıÓ‰Û ËÁ ÒÚÓˇ Î ̨·Ó„Ó ËÁ ‡„ÂÌ

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Reynolds C. Flocks, birds, and schools: A distributed behavioural model.ACM SIGGRAPH Computer Graphics, 1987, vol. 21, no. 4, pp. 25{34. DOI:10.1145/37401.37406
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    ‡ÎˇÂ‚‡ [1]). ’ÓÌÓÎÓ„Ë ̃ÂÒÍË Ó‰ÌËÏ ËÁ ÔÂ‚ ̊ı ̄ËÓÍÓ ‡ÒÔÓÒÚ‡ÌÂÌÌ ̊ı ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊ı ÏÂÚÓ‰Ó‚ ÛÔ‡‚ÎÂÌˡ ‰‚ËÊÂÌËÂÏ „ÛÔÔ ̊ Ó·ÓÚÓ‚ ÒÚ‡ÎË ÏÂÚÓ‰ ̊, ÓÒÌÓ‚‡ÌÌ ̊ ̇ ÔË̈ËÔ‡ı ÍÓÌÒÂÌÒÛÒ‡, Ú. Â. ÛÒ‰ÌÂÌˡ
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    , Ë ÔÓÚÂ̈ˇΠ̧Ì ̊ı ÙÛÌ͈ËÈ [4,5,6]. ƒ‡ÌÌ ̊ ÏÂÚÓ‰ ̊ ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ‰Îˇ  ̄ÂÌˡ Á‡‰‡ ̃ <ÒÚ‡ÈÌÓ„Ó> ‰‚ËÊÂÌˡ Í ÓÔ‰ÂÎÂÌÌÓÈ ˆÂÎË. œË Ò‚ÓÂÈ ÔÓÒÚÓÚÂ Ë ÛÒÚÓÈ ̃Ë‚ÓÒÚË Í ‚ ̊ıÓ‰Û ËÁ ÒÚÓˇ Î ̨·Ó„Ó ËÁ ‡„ÂÌÚÓ‚, ÏÂÚÓ‰ ÔÓÚÂ̈ˇΠ̧ÌÓÈ ÙÛÌ͈ËË ËÏÂÂÚ ÒÛ ̆ÂÒÚ‚ÂÌÌ ̊ ӄ‡ÌË ̃ÂÌˡ: ÚÛ‰ÌÓ Ô‰Ò͇Á‡Ú ̧ ͇ÍËÏ ·Û‰ÂÚ ÛÒÚ‡ÌÓ‚Ë‚ ̄ÂÂÒˇ ‚Á‡ËÏÌÓ ‡ÒÔÓÎÓÊÂÌË ‡„ÂÌÚÓ‚, Ú‡Í Í‡Í ̋ÚÓ Á‡‚ËÒËÚ ÓÚ ÍÓÌÍÂÚÌ ̊ı Ó·ÒÚÓˇÚÂÎ ̧ÒÚ‚, Ï

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Vicsek T., Czir-ok A., Ben-Jacob E., Cohen I., Shochet O. Novel type of phase transitions in system of self- driven particles.Physical Review Letters, 1995, vol. 75, no. 6, pp. 1226{1229. DOI:10.1103/PhysRevLett.75.1226
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    ‡ÎˇÂ‚‡ [1]). ’ÓÌÓÎÓ„Ë ̃ÂÒÍË Ó‰ÌËÏ ËÁ ÔÂ‚ ̊ı ̄ËÓÍÓ ‡ÒÔÓÒÚ‡ÌÂÌÌ ̊ı ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊ı ÏÂÚÓ‰Ó‚ ÛÔ‡‚ÎÂÌˡ ‰‚ËÊÂÌËÂÏ „ÛÔÔ ̊ Ó·ÓÚÓ‚ ÒÚ‡ÎË ÏÂÚÓ‰ ̊, ÓÒÌÓ‚‡ÌÌ ̊ ̇ ÔË̈ËÔ‡ı ÍÓÌÒÂÌÒÛÒ‡, Ú. Â. ÛÒ‰ÌÂÌˡ
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    , Ë ÔÓÚÂ̈ˇΠ̧Ì ̊ı ÙÛÌ͈ËÈ [4,5,6]. ƒ‡ÌÌ ̊ ÏÂÚÓ‰ ̊ ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ‰Îˇ  ̄ÂÌˡ Á‡‰‡ ̃ <ÒÚ‡ÈÌÓ„Ó> ‰‚ËÊÂÌˡ Í ÓÔ‰ÂÎÂÌÌÓÈ ˆÂÎË. œË Ò‚ÓÂÈ ÔÓÒÚÓÚÂ Ë ÛÒÚÓÈ ̃Ë‚ÓÒÚË Í ‚ ̊ıÓ‰Û ËÁ ÒÚÓˇ Î ̨·Ó„Ó ËÁ ‡„ÂÌÚÓ‚, ÏÂÚÓ‰ ÔÓÚÂ̈ˇΠ̧ÌÓÈ ÙÛÌ͈ËË ËÏÂÂÚ ÒÛ ̆ÂÒÚ‚ÂÌÌ ̊ ӄ‡ÌË ̃ÂÌˡ: ÚÛ‰ÌÓ Ô‰Ò͇Á‡Ú ̧ ͇ÍËÏ ·Û‰ÂÚ ÛÒÚ‡ÌÓ‚Ë‚ ̄ÂÂÒˇ ‚Á‡ËÏÌÓ ‡ÒÔÓÎÓÊÂÌË ‡„ÂÌÚÓ‚, Ú‡Í Í‡Í ̋ÚÓ Á‡‚ËÒËÚ ÓÚ ÍÓÌÍÂÚÌ ̊ı Ó·ÒÚÓˇÚÂÎ ̧ÒÚ‚, Ï

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Tanner H.G., Jadbabaie A., Pappas G.J. Flocking in Teams of Nonholonomic Agents. In: Kumar V., Leonard N., Morse A.S., eds.Cooperative control. Springer Berlin Heidelberg, 2005, pp. 229{239. DOI:10.1007/978-3-540-31595-713(Ser.Lecture Notes in Control and Information Science; vol. 309).
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    ’ÓÌÓÎÓ„Ë ̃ÂÒÍË Ó‰ÌËÏ ËÁ ÔÂ‚ ̊ı ̄ËÓÍÓ ‡ÒÔÓÒÚ‡ÌÂÌÌ ̊ı ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊ı ÏÂÚÓ‰Ó‚ ÛÔ‡‚ÎÂÌˡ ‰‚ËÊÂÌËÂÏ „ÛÔÔ ̊ Ó·ÓÚÓ‚ ÒÚ‡ÎË ÏÂÚÓ‰ ̊, ÓÒÌÓ‚‡ÌÌ ̊ ̇ ÔË̈ËÔ‡ı ÍÓÌÒÂÌÒÛÒ‡, Ú. Â. ÛÒ‰ÌÂÌˡ [2,3], Ë ÔÓÚÂ̈ˇΠ̧Ì ̊ı ÙÛÌ͈ËÈ
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    . ƒ‡ÌÌ ̊ ÏÂÚÓ‰ ̊ ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ‰Îˇ  ̄ÂÌˡ Á‡‰‡ ̃ <ÒÚ‡ÈÌÓ„Ó> ‰‚ËÊÂÌˡ Í ÓÔ‰ÂÎÂÌÌÓÈ ˆÂÎË. œË Ò‚ÓÂÈ ÔÓÒÚÓÚÂ Ë ÛÒÚÓÈ ̃Ë‚ÓÒÚË Í ‚ ̊ıÓ‰Û ËÁ ÒÚÓˇ Î ̨·Ó„Ó ËÁ ‡„ÂÌÚÓ‚, ÏÂÚÓ‰ ÔÓÚÂ̈ˇΠ̧ÌÓÈ ÙÛÌ͈ËË ËÏÂÂÚ ÒÛ ̆ÂÒÚ‚ÂÌÌ ̊ ӄ‡ÌË ̃ÂÌˡ: ÚÛ‰ÌÓ Ô‰Ò͇Á‡Ú ̧ ͇ÍËÏ ·Û‰ÂÚ ÛÒÚ‡ÌÓ‚Ë‚ ̄ÂÂÒˇ ‚Á‡ËÏÌÓ ‡ÒÔÓÎÓÊÂÌË ‡„ÂÌÚÓ‚, Ú‡Í Í‡Í ̋ÚÓ Á‡‚ËÒËÚ ÓÚ ÍÓÌÍÂÚÌ ̊ı Ó·ÒÚÓˇÚÂÎ ̧ÒÚ‚, ÏÂÚÓ‰ ÏÓÊÂÚ · ̊Ú ̧ ËÒÔÓÎ ̧ÁÓ‚‡Ì ‰Îˇ

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Hengster-Movric K., Bogdan S., Draganjac I. Multi-Agent Formation Control Based on BellShaped Potential Functions.Intelligent Robotic Systems, 2010, vol. 58, no. 2, pp. 165{189. DOI:10.1007/s10846-009-9361-7
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    ’ÓÌÓÎÓ„Ë ̃ÂÒÍË Ó‰ÌËÏ ËÁ ÔÂ‚ ̊ı ̄ËÓÍÓ ‡ÒÔÓÒÚ‡ÌÂÌÌ ̊ı ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊ı ÏÂÚÓ‰Ó‚ ÛÔ‡‚ÎÂÌˡ ‰‚ËÊÂÌËÂÏ „ÛÔÔ ̊ Ó·ÓÚÓ‚ ÒÚ‡ÎË ÏÂÚÓ‰ ̊, ÓÒÌÓ‚‡ÌÌ ̊ ̇ ÔË̈ËÔ‡ı ÍÓÌÒÂÌÒÛÒ‡, Ú. Â. ÛÒ‰ÌÂÌˡ [2,3], Ë ÔÓÚÂ̈ˇΠ̧Ì ̊ı ÙÛÌ͈ËÈ
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    . ƒ‡ÌÌ ̊ ÏÂÚÓ‰ ̊ ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ‰Îˇ  ̄ÂÌˡ Á‡‰‡ ̃ <ÒÚ‡ÈÌÓ„Ó> ‰‚ËÊÂÌˡ Í ÓÔ‰ÂÎÂÌÌÓÈ ˆÂÎË. œË Ò‚ÓÂÈ ÔÓÒÚÓÚÂ Ë ÛÒÚÓÈ ̃Ë‚ÓÒÚË Í ‚ ̊ıÓ‰Û ËÁ ÒÚÓˇ Î ̨·Ó„Ó ËÁ ‡„ÂÌÚÓ‚, ÏÂÚÓ‰ ÔÓÚÂ̈ˇΠ̧ÌÓÈ ÙÛÌ͈ËË ËÏÂÂÚ ÒÛ ̆ÂÒÚ‚ÂÌÌ ̊ ӄ‡ÌË ̃ÂÌˡ: ÚÛ‰ÌÓ Ô‰Ò͇Á‡Ú ̧ ͇ÍËÏ ·Û‰ÂÚ ÛÒÚ‡ÌÓ‚Ë‚ ̄ÂÂÒˇ ‚Á‡ËÏÌÓ ‡ÒÔÓÎÓÊÂÌË ‡„ÂÌÚÓ‚, Ú‡Í Í‡Í ̋ÚÓ Á‡‚ËÒËÚ ÓÚ ÍÓÌÍÂÚÌ ̊ı Ó·ÒÚÓˇÚÂÎ ̧ÒÚ‚, ÏÂÚÓ‰ ÏÓÊÂÚ · ̊Ú ̧ ËÒÔÓÎ ̧ÁÓ‚‡Ì ‰Îˇ

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Yang J., Lu Q., Lang X. Flocking shape analysis of multi-agent systems.Science China Technological Sciences, 2010, vol. 53, no. 3, pp. 741{747. DOI:10.1007/s11431-010-0072-x
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    ’ÓÌÓÎÓ„Ë ̃ÂÒÍË Ó‰ÌËÏ ËÁ ÔÂ‚ ̊ı ̄ËÓÍÓ ‡ÒÔÓÒÚ‡ÌÂÌÌ ̊ı ‰ÂˆÂÌÚ‡ÎËÁÓ‚‡ÌÌ ̊ı ÏÂÚÓ‰Ó‚ ÛÔ‡‚ÎÂÌˡ ‰‚ËÊÂÌËÂÏ „ÛÔÔ ̊ Ó·ÓÚÓ‚ ÒÚ‡ÎË ÏÂÚÓ‰ ̊, ÓÒÌÓ‚‡ÌÌ ̊ ̇ ÔË̈ËÔ‡ı ÍÓÌÒÂÌÒÛÒ‡, Ú. Â. ÛÒ‰ÌÂÌˡ [2,3], Ë ÔÓÚÂ̈ˇΠ̧Ì ̊ı ÙÛÌ͈ËÈ
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    . ƒ‡ÌÌ ̊ ÏÂÚÓ‰ ̊ ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ‰Îˇ  ̄ÂÌˡ Á‡‰‡ ̃ <ÒÚ‡ÈÌÓ„Ó> ‰‚ËÊÂÌˡ Í ÓÔ‰ÂÎÂÌÌÓÈ ˆÂÎË. œË Ò‚ÓÂÈ ÔÓÒÚÓÚÂ Ë ÛÒÚÓÈ ̃Ë‚ÓÒÚË Í ‚ ̊ıÓ‰Û ËÁ ÒÚÓˇ Î ̨·Ó„Ó ËÁ ‡„ÂÌÚÓ‚, ÏÂÚÓ‰ ÔÓÚÂ̈ˇΠ̧ÌÓÈ ÙÛÌ͈ËË ËÏÂÂÚ ÒÛ ̆ÂÒÚ‚ÂÌÌ ̊ ӄ‡ÌË ̃ÂÌˡ: ÚÛ‰ÌÓ Ô‰Ò͇Á‡Ú ̧ ͇ÍËÏ ·Û‰ÂÚ ÛÒÚ‡ÌÓ‚Ë‚ ̄ÂÂÒˇ ‚Á‡ËÏÌÓ ‡ÒÔÓÎÓÊÂÌË ‡„ÂÌÚÓ‚, Ú‡Í Í‡Í ̋ÚÓ Á‡‚ËÒËÚ ÓÚ ÍÓÌÍÂÚÌ ̊ı Ó·ÒÚÓˇÚÂÎ ̧ÒÚ‚, ÏÂÚÓ‰ ÏÓÊÂÚ · ̊Ú ̧ ËÒÔÓÎ ̧ÁÓ‚‡Ì ‰Îˇ

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Eren T., Belhumeur P.N., Anderson B.D.O, Morse A.S. A framework for maintaining formation based on rigidity.Proceedings of the 15thTriennial World Congress, Barcelona, Spain. IFAC, 2002, pp. 2752{2757.
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    Õ‡ ‰‡ÌÌ ̊È ÏÓÏÂÌÚ ‚ ÎËÚÂ‡ÚÛ ‚ ·ÓÎ ̧ ̄ËÌÒÚ‚Â ÒÎÛ ̃‡Â‚ ‰Îˇ  ̄ÂÌˡ Û͇Á‡ÌÌÓÈ Á‡‰‡ ̃Ë ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ÒÎÂ‰Û ̨ ̆Ë ÔÓ‰ıÓ‰ ̊: ÔÂ‚ ̊È | Á‡‰‡Ú ̧ Á‡‡Ì Ê·ÂÏÓ ‡ÒÒÚÓˇÌË ÏÂÊ‰Û Ô‡‡ÏË ‡„ÂÌÚÓ‚ Ë ÔËÏÂÌËÚ ̧ ÚÂÓË ̨ ÊÂÒÚÍÓÒÚË „‡ÙÓ‚
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    ; ‚ÚÓÓÈ | Á‡‰‡Ú ̧ Ê·ÂÏÓ ÔÓÎÓÊÂÌË ‡„ÂÌÚ‡ ÓÚÌÓÒËÚÂÎ ̧ÌÓ Â„Ó ÒÓÒ‰ÂÈ ̃ÂÂÁ ‚ÂÍÚÓ‡ Ë ‚ÓÒÔÓÎ ̧ÁÓ‚‡Ú ̧Òˇ Ô‡‚Ë·ÏË ÍÓÌÒÂÌÒÛÒ‡ (ÛÒ‰ÌÂÌˡ) [9,10,11]; ÚÂÚËÈ | ‚ ͇ʉ ̊È ÏÓÏÂÌÚ ‚ÂÏÂÌË ÔÂ‰‡‚‡Ú ̧ ‡„ÂÌÚ‡Ï ËÌÙÓχˆË ̨ Ó ÔÓÎÓÊÂÌËË Ë Ì‡Ô‡‚ÎÂÌËË ‰‚ËÊÂÌˡ ‚ËÚۇΠ̧ÌÓÈ ÙÓχˆËË, ̇ ÓÒÌÓ‚‡ÌËË ̃Â„Ó Í‡Ê‰ ̊È ‡„ÂÌÚ ÏÓÊÂÚ ÒÍÓÌÒÚÛËÓ‚‡Ú ̧ ‚ËÚۇΠ̧ÌÓ„Ó ÎˉÂ‡ Ë ÒΉӂ‡Ú ̧ Á‡ ÌËÏ [12,13,14].

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Rodrigues J., Figueira D., Neves C., Ribeiro M. Leader-following graph-based distributed formation control.Robotica, 2009, vol. 75, pp. 8{14.
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    Õ‡ ‰‡ÌÌ ̊È ÏÓÏÂÌÚ ‚ ÎËÚÂ‡ÚÛ ‚ ·ÓÎ ̧ ̄ËÌÒÚ‚Â ÒÎÛ ̃‡Â‚ ‰Îˇ  ̄ÂÌˡ Û͇Á‡ÌÌÓÈ Á‡‰‡ ̃Ë ËÒÔÓÎ ̧ÁÛ ̨ÚÒˇ ÒÎÂ‰Û ̨ ̆Ë ÔÓ‰ıÓ‰ ̊: ÔÂ‚ ̊È | Á‡‰‡Ú ̧ Á‡‡Ì Ê·ÂÏÓ ‡ÒÒÚÓˇÌË ÏÂÊ‰Û Ô‡‡ÏË ‡„ÂÌÚÓ‚ Ë ÔËÏÂÌËÚ ̧ ÚÂÓË ̨ ÊÂÒÚÍÓÒÚË „‡ÙÓ‚
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    [7,8]
    Suffix
    ; ‚ÚÓÓÈ | Á‡‰‡Ú ̧ Ê·ÂÏÓ ÔÓÎÓÊÂÌË ‡„ÂÌÚ‡ ÓÚÌÓÒËÚÂÎ ̧ÌÓ Â„Ó ÒÓÒ‰ÂÈ ̃ÂÂÁ ‚ÂÍÚÓ‡ Ë ‚ÓÒÔÓÎ ̧ÁÓ‚‡Ú ̧Òˇ Ô‡‚Ë·ÏË ÍÓÌÒÂÌÒÛÒ‡ (ÛÒ‰ÌÂÌˡ) [9,10,11]; ÚÂÚËÈ | ‚ ͇ʉ ̊È ÏÓÏÂÌÚ ‚ÂÏÂÌË ÔÂ‰‡‚‡Ú ̧ ‡„ÂÌÚ‡Ï ËÌÙÓχˆË ̨ Ó ÔÓÎÓÊÂÌËË Ë Ì‡Ô‡‚ÎÂÌËË ‰‚ËÊÂÌˡ ‚ËÚۇΠ̧ÌÓÈ ÙÓχˆËË, ̇ ÓÒÌÓ‚‡ÌËË ̃Â„Ó Í‡Ê‰ ̊È ‡„ÂÌÚ ÏÓÊÂÚ ÒÍÓÌÒÚÛËÓ‚‡Ú ̧ ‚ËÚۇΠ̧ÌÓ„Ó ÎˉÂ‡ Ë ÒΉӂ‡Ú ̧ Á‡ ÌËÏ [12,13,14].