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Reachability and Coverage Planning for Connected Agents

2019-09-26 | |  89 |   72 |   0 0 0
Abstract Motivated by the increasing appeal of robots in information-gathering missions, we study multiagent 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

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