V.I. Merkulov, V.P. Khar-kov, N.N. Shamarov

A modification with low computing cost of collective control of a drone cluster based on mathematical apparatus of statistical theory of optimal control in Letov-Kalman statement while optimizing sectional interests is proposed. Reduction of computing cost is achieved by two methods: decomposition of the original state vector and substitution of unitary quadratic form in merit functional for a sum of quadratic forms of decomposed state vectors; transition from simultaneous control of the whole drone cluster to sequential individual control of the each drone from the cluster, accounting for control errors for the whole cluster.