On interaction of strategic and tactical planning for the coalition of agents in dynamic environment

Planning problems are studied in the article in the context of a global task of development of the intelligent control system for complex technical objects (mobile robots, unmanned vehicles etc.). We concentrate on the class of tasks that can not be solved without an interaction between strategic (symbolic) and tactical (sub-symbolic) planning. Original behavior and path planning methods are proposed as well as their relations and interfaces. A model example of a coalition relocation task in a dynamic environment with the destroyable obstacles is considered.