For citations:

Pushkarev I.I. A CONTROL SYSTEM FOR MOVEMENT AND DIVERGENCE OF UNMANNED SHIP ACCORDING TO COLREG. Vestnik Gosudarstvennogo universiteta morskogo i rechnogo flota imeni admirala S. O. Makarova. 2022;14(6):837-848. (In Russ.) https://doi.org/10.21821/2309-5180-2022-14-6-837-848