Algorithm of Operative Synthesis of Information Robot Branching Path

This article is dedicated to the problem of synthesis of an information robot (IR) optimal path. Fundamentally important steps for the successful execution of the task assigned to IR are: operational (depending on the current situation) construction of optimal paths of the base and drones moving towards the targets (in general, this path is called branching); determination of optimal time points and phase coordinates of drones dropping (time points and coordinates of branching). The purpose of this article is to present an algorithm for constructing the branching path of IR based on the application of modified Krotov's method developed for task with branching paths of compound dynamic systems.