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The massive exploitation of robots for industry 4.0 needs advanced wirelesssolutions that replace less flexible and more costly wired networks. In thisregard, millimeter-waves (mm-waves) can provide high data rates, but they arecharacterized by a spotty coverage requiring dense radio deployments. In suchscenarios, coverage holes and numerous handovers may decrease the communicationthroughput and reliability. In contrast to conventional multi-robot pathplanning (MPP), we define a type of multi-robot association-path planning(MAPP) problems aiming to jointly optimize the robots' paths and therobots-access points (APs) associations. In MAPP, we focus on minimizing thepath lengths as well as the number of handovers while sustaining connectivity.We propose an algorithm that can solve MAPP in polynomial time and it is ableto numerically approach the global optimum. We show that the proposed solutionis able to guarantee network connectivity and to dramatically reduce the numberof handovers in comparison to minimizing only the path lengths.

Multi-Robot Association-Path Planning in Millimeter-Wave Industrial Scenarios