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density-driven-control

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D2OC

kooktaelee / D2OC

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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
  • Updated Mar 3, 2026
  • MATLAB

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