TY JOUR TI AUTONOMOUS SMALL VESSEL USING THE TECHNICAL CONTROL ALGORITHM TO SERVICE VESSELS AND OBJECTS IN THE PORT AREA KW evolution; module; algorithm; vector; method; manipulator; dynamic; mass-inertial indicators; technical controllability; local autonomy; inertia JO Operation of Maritime Transport AU Stukonog, S.N. AU Popov, V.V. PY 2024 IS PB Budget Educational Institution of Higher Education “Admiral Ushakov State Maritime University”