Denysyuk, Pavlo     UML models of determining the direction of motion of mobile robotic system [Текст] / Pavlo Denysyuk, Kateryna Matviichuk, Andriy Medvid // Computer science and information technologies CSIT 2012 : proc. of the VII Intern. sci. and techn. conf., Nov. 20-24, 2012, Lviv, Ukraine / Min. of Education, Science, Youth and Sports of Ukraine, Lviv Politechniс Nat. Univ. — Lviv : Publ. Lviv Politechniс, 2012. — P. 135-136.