  We study a variant of the multi-agent path finding problem (MAPF) in which
agents are required to remain connected to each other and to a designated base.
This problem has applications in search and rescue missions where the entire
execution must be monitored by a human operator. We re-visit the conflict-based
search algorithm known for MAPF, and define a variant where conflicts arise
from disconnections rather than collisions. We study optimizations, and give
experimental results in which we compare our algorithms with the literature.
