The 3 linked references in paper A. Belousov I., S. Tkachev B., А. Белоусов И., С. Ткачев Б. (2016) “Построение контекстно-свободной грамматики по мультиграфу автомата с магазинной памятью // Construction of Context Free Grammar Based on Push-Down Automation Multigraph” / spz:neicon:technomag:y:2014:i:7:p:128-142

  1. Dantam N., Stilman M. The Motion Grammar: Analysis of a Linguistic Method for Robot Control.IEEE Transactions on Robotics, 2013, vol. 29, no. 3, pp. 704{718. DOI: 10.1109/TRO.2013.2239553
  2. Frazzoli E., Dahleh M.A., Feron E. Maneuver-based motion planning for nonlinear systems with symmetries.IEEE Transactions on Robotics, 2005, vol. 21, no. 6, pp. 1077{1091. DOI: 10.1109/TRO.2005.852260
  3. Belousov A.I., Tkachev S.B. [Presentation of push-down automation as oriented multigraphs]. Nauka i obrazovanie MGTU im. N.E. Baumana { Science and Education of the Bauman MSTU, 2012, no. 9. DOI:10.7463/0912.0460973(in Russian).