On the duality of guaranteed control-estimation problems for hierarchical systems
Recently problems of route planning for the team of objects overcoming obstacles in the common motion are of great interest. The central point for route planning algorithms design is how to describe obstacles and choose the route in the complicated circumstances. The information structure appropriately presenting team motion of objects with constrained dynamics is under discussion in the paper. The model presented may provide the unified description of organizational structure, routes and geography. The investigation is inspired by the needs of navigation and net tracing.