# Reachability and Coverage Planning for Connected Agents: Extended Version

## TL;DR

This paper investigates the complexity of multi-agent path planning with connectivity constraints, introducing sight-moveable graphs that enable efficient algorithms for reachability and coverage problems.

## Contribution

It analyzes the complexity of connectivity-preserving path planning and introduces sight-moveable graphs as a new class with efficient solutions.

## Key findings

- Complexity results for various graph classes
- Introduction of sight-moveable graphs
- Efficient algorithms for new graph class

## 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.