Which Russian explorers investigated the Amur River basin in the 1600s?

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Topographic map of the Amur River basin and its drainage network, covering parts of northeastern China, eastern Russia, Mongolia, and North Korea. The map uses color shading to indicate elevation, shows major rivers and tributaries, surrounding mountain ranges, swamps, marshes, and lakes, and includes a locator inset of the region within Asia. Major cities, railways, and dams are also marked. — Amur River The Amur River basin and its drainage network.

During the 17th century, the Amur River basin was investigated by two primary Russian adventurers:

Vasily Poyarkov: He explored a significant portion of the river basin and its estuary between 1644 and 1646.1
Yerofey P. Khabarov: He conducted expeditions in the region from 1649 to 1651, and the city of Khabarovsk is named in his honor.1

Although these explorers and other traders began entering the area during the 1600s, the Treaty of Nerchinsk in 1689 ultimately confirmed Chinese sovereignty over the entire basin at that time.1