For citations:

Vas’kov A.S., Mironenko A.A. Planning and control of the ship curvilinear route. Vestnik Gosudarstvennogo universiteta morskogo i rechnogo flota imeni admirala S. O. Makarova. 2023;15(3):401-415. (In Russ.) https://doi.org/10.21821/2309-5180-2023-15-3-401-415