Python and MATLAB codes for Density-Driven Optimal Control (D2OC) using Optimal Transport and Wasserstein distance, enabling decentralized multi-agent / multi-robot non-uniform area coverage.
robotics multi-agent mpc optimal-control wasserstein optimal-transport environmental-monitoring swarm-intelligence multi-robot search-and-rescue distributed-control decentralized-control autonomous-robots coverage-control ergodic-control multi-robot-systems density-driven-control robot-coordination nonuniform-coverage time-avgeraged-coverage
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Updated
Mar 3, 2026 - MATLAB