Gauge-invariant action for free string field theory with boundary

We construct fully gauge-invariant kinetic terms for open and closed string field theories on a target space with boundary. This is realized by promoting the gauge parameters at the boundary to extra dynamical modes describing boundary degrees of freedom. Having a gauge-invariant classical action, we also construct the corresponding BV master action and show that the master equation is obeyed thanks to a peculiar nilpotent structure of the BV kinetic operator. From this general construction we explicitly derive free actions for massless and massive modes of open and closed strings propagating on a target with a boundary, including linear-dilaton backgrounds.