  The massive exploitation of robots for industry 4.0 needs advanced wireless
solutions that replace less flexible and more costly wired networks. In this
regard, millimeter-waves (mm-waves) can provide high data rates, but they are
characterized by a spotty coverage requiring dense radio deployments. In such
scenarios, coverage holes and numerous handovers may decrease the communication
throughput and reliability. In contrast to conventional multi-robot path
planning (MPP), we define a type of multi-robot association-path planning
(MAPP) problems aiming to jointly optimize the robots' paths and the
robots-access points (APs) associations. In MAPP, we focus on minimizing the
path 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 able
to numerically approach the global optimum. We show that the proposed solution
is able to guarantee network connectivity and to dramatically reduce the number
of handovers in comparison to minimizing only the path lengths.
