**10. Patents**

Certificate of software registration No.2020619668 Diveev A.I., Sofronova E.A. "Optimal control of group of robots based on Pontryagin maximum principle" 21 August 2020.

Certificate of software registration No.2020619960 Diveev A.I., Sofronova E.A. "Optimal control of group of robots by direct approach based on piece-wise linear approximation", 26 August 2020.

**Author Contributions:** Formal analysis, A.D.; Investigation, A.D., E.S.; Methodology, I.Z.; Software, E.S.; Supervision, I.Z.; Validation, E.S.; Writing—original draft, A.D.; Writing—review and editing, E.S. All the authors have equal contribution. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research is supported by the Ministry of Science and Higher Education of the Russian Federation, project No 075-15-2020-799.

**Conflicts of Interest:** The authors declare no conflict of interest.
