Complexity of planning for connected agents in a partially known environment

International audienceThe Connected Multi-Agent Path Finding (CMAPF) problem asks for a plan to move a group of agents in a graph while respecting a connectivity constraint. We study a generalization of CMAPF in which the graph is not entirely known in advance, but is discovered by the agents during their mission. We present a framework introducing this notion and study the problem of searching for a strategy to reach a configuration in this setting. We prove the problem to be PSPACE-complete when requiring all agents to be connected at all times, and NEXPTIME-hard in the decentralized case