🚀 Welcome to the Official D2OC Repository: Decentralized Density-Driven Optimal Control

[kooktaelee]

Hello everyone,

Welcome to the official repository for D2OC (Density-Driven Optimal Control).

Unlike traditional coverage control that focuses on static robot distribution (e.g., CVT), D2OC is a dynamic paradigm designed for finite-time ergodic-like tracking. Our framework ensures that multi-agent systems optimally explore and cover nonuniform density maps by leveraging Optimal Transport (OT) theory.

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Key Resources

• Official Paper: IEEE Transactions on Systems, Man, and Cybernetics: Systems
• Interactive Demo: Experience D2OC on Hugging Face Spaces
• Documentation: Visit our Project Wiki for technical details.

Join the Discussion

This forum is a dedicated space for researchers and engineers.

• Q&A: Ask technical questions about math or implementation.
• Ideas: Propose new use cases (Search & Rescue, Surveillance, etc.).
• Showcase: Share your results using the D2OC framework.

If D2OC helps your research, please consider citing our 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}}