For citations:

Mughal U., Ali A., Urwa U., Abramchuk M.V. TriLayer-Nav: A Tri-Layer Navigation Framework Integrating A*, Dynamic Window Approach, and Model Predictive Control for Differential-Drive Robots. Giroskopiya i Navigatsiya. 2026;34(1):41-57. (In Russ.) EDN: KADJYM