Distribution of local goals in the component structures of complex poorly formalizable systems

The paper formalizes the concept of goal and goal structure of complex poorly formalizable system from the position of system approach. The direct (local goals for a number of components) and reverse (formation of a set of components necessary to ensure the achievement of a fixed number of goals) problem of distribution of local goals component in the component structure is defined. The methods for solving direct and inverse problem for a group of mobile robotic systems are described. The example demonstrating the applicability of methods of solution of local goals distribution problem in component structures of complex poorly formalizable systems is given.