{"type":"ScholarlyArticle","title":"Reachability and Coverage Planning for Connected Agents","authors":[{"name":"Tristan Charrier","slug":"tristan-charrier","given":"Tristan","family":"Charrier","affiliation":"Univ Rennes , CNRS , IRISA; Univ Rennes , Inria , CNRS , IRISA"},{"name":"Arthur Queffelec","slug":"arthur-queffelec","given":"Arthur","family":"Queffelec","affiliation":"Univ Rennes , CNRS , IRISA; Univ Rennes , Inria , CNRS , IRISA"},{"name":"Ocan Sankur","slug":"ocan-sankur","given":"Ocan","family":"Sankur","affiliation":""},{"name":"François Schwarzentruber","slug":"francois-schwarzentruber","given":"François","family":"Schwarzentruber","affiliation":""}],"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.","doi":"10.24963/ijcai.2019/21","url":"https://ijcai.org/proceedings/2019/21","pdf":"https://ijcai.org/proceedings/2019/0021.pdf","markdown":"https://ijcai.org/proceedings/2019/21.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/21","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Agent-based and Multi-agent Systems","track":"Main track","number":21,"pages":{"first":144,"last":150},"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"],"videos":[],"references":[{"position":1,"raw":"[Aminof et al., 2016] B. 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