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Translated from Kibernetika, No. 2, pp. 57–65, March–April, 1979.
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Kasatkin, A.M. Knowledge representations in robot artificial intelligence systems. Cybern Syst Anal 15, 218–228 (1979). https://doi.org/10.1007/BF01069333
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DOI: https://doi.org/10.1007/BF01069333