Method of Formation of Quantitative Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots. - Denis A. Beloglazov; Vladimir Pereverzev; Victor V. Soloviev; Viacheslav Kh. Pshikhopov; Morozov Roman (J. Robotics, 2020)

Estimation Method for Operational Environment Complexity by a Robotic Team. - Denis A. Beloglazov; Maria A. Vasileva; Victor V. Soloviev; Vladimir Pereverzev; Viacheslav H. Pshihopov (IEA/AIE (2), 2021)