Reachability and Coverage Planning for Connected Agents: Extended Version
Artificial Intelligence
2019-03-12 v1 Data Structures and Algorithms
Multiagent Systems
Abstract
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.
Cite
@article{arxiv.1903.04300,
title = {Reachability and Coverage Planning for Connected Agents: Extended Version},
author = {Tristan Charrier and Arthur Queffelec and Ocan Sankur and François Schwarzentruber},
journal= {arXiv preprint arXiv:1903.04300},
year = {2019}
}