Reachability and Coverage Planning for Connected Agents

Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and the connectivity constraints of the agents. We study the theoretical complexity of the reachability and the coverage problems of a fleet of connected agents on various classes of topological graphs. We establish the complexity of these problems on known classes, and introduce a new class called sight-moveable graphs which admit efficient algorithms.

Authors

• Tristan Charrier
• Arthur Queffelec WorldWise, Paris, France
• Ocan Sankur
• François Schwarzentruber

Keywords

• Agent-based and Multi-agent Systems: Multi-agent Planning
• Knowledge Representation and Reasoning: Computational Complexity of Reasoning
• Planning and Scheduling: Theoretical Foundations of Planning