For citations:

Yuyukin I.V. Realization of the smoothness of spline trajectory configuration for avoidance of nogo areas in due time. Vestnik Gosudarstvennogo universiteta morskogo i rechnogo flota imeni admirala S. O. Makarova. 2024;16(3):421-443. (In Russ.) https://doi.org/10.21821/2309-5180-2024-16-3-421-443