Geometric Facts Underlying Algorithms of Robot Navigation for Tight Circumnavigation of Group Objects through Singular Inter-Object Gaps. - Valerii Chernov; Alexey S. Matveev (CoRR, 2023)

Optimal Circumnavigation of Unpredictably Moving Formations of Targets by a Nonholonomic Underactuated Mobile Robot. - Valerii Chernov; Alexey S. Matveev (ICRAI, 2024)