🛸 D2OC: Decentralized Density-Driven Optimal Control for Multi-Robot Systems

Official Interactive Demo: Decentralized Density-Driven Optimal Control

This tool visualizes the D2OC framework, enabling decentralized multi-agent coordination for nonuniform area coverage using Optimal Transport and Wasserstein distance.

GitHub Repository: Source Code & Star here ⭐

Official Publication: IEEE Transactions on Systems, Man, and Cybernetics: Systems (DOI: 10.1109/TSMC.2025.3622075)

Preprint: arXiv:2511.12756

Cite this work

@ARTICLE{seo2025density,
  author={Seo, Sungjun and Lee, Kooktae},
  journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems}, 
  title={Density-Driven Optimal Control for Efficient and Collaborative Multiagent Nonuniform Coverage}, 
  year={2025},
  volume={55},
  number={12},
  pages={9340-9354},
  doi={10.1109/TSMC.2025.3622075}}