The problem of controlling groups of moving objects is considered. Each group is composed of identical simple control objects and moves as a single (composite) object. During movement, each group can split into subgroups or, conversely, merge with other groups. The dynamic capabilities of the group change as they depend on its composition. Control quality is assessed using a functional that, in addition to the costs of continuous movement of simple objects, also accounts for the costs of regrouping simple objects when dividing or combining composite ones. Sufficient conditions for control optimality are proven, and their application is demonstrated through examples.
Keywords: hybrid system, optimal control, directed loaded graph
Received February 26, 2026
Revised March 27, 2026
Accepted March 30, 2026
Alexandr Sekorgeevich Bortavskii, Dr. Phys.-Math. Sci., Prof., Moscow Aviation Institute (National Research University). Prof., National University of Science and Technology MISIS, Moscow, Russia, e-mail: asbortakov@mail.ru
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Cite this article as: A.S. Bortakovskii. Optimal control of groups of mobile objects of variable composition. Trudy Instituta Matematiki i Mekhaniki UrO RAN, 2026, vol. 32, no. 2, pp. 44–57.
