A Model of Internal Information Structure for Planning Coordinated Group Control

A group of objects with limited information and communication constraints is considered. A planar problem of motion planning under internal restrictions on possible maneuverability and external obstacle constraints is investigated. The motivation to such problems comes from navigation and related issues. A model for solving such problems is proposed based on internal presentation of systems information structure along schemes similar to graph-oriented networks. Indicated are classes of systems, obstacles and motion routes admissible for the proposed approach. Simulation examples are presented.