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PolskiDistributed Coverage Control: Voronoi Swarm (2D)
Top-down 2D companion to the 3D Voronoi coverage-control model: each robot computes its own Voronoi cell against its neighbors and steers toward that cell's weighted centroid — a fully distributed control law with no central planner. Compare it live against a naive repulsion-only baseline.
This 2D companion drives the same distributed Voronoi coverage law as the 3D model, viewed from directly above: each robot's cell is tinted around it, an orange marker shows the weighted centroid it's chasing, and a faint glow marks the importance field. Toggle the naive baseline to watch the same robots ignore the field and space out evenly instead, and compare the coverage-cost readout between the two strategies in real time.
2D top-down companion to the 3D Voronoi coverage-control model: a distributed Lloyd's-algorithm-style law drives each robot toward its own Voronoi cell's weighted centroid, versus a naive neighbor-repulsion baseline with no density awareness.
2D · HTML5 Canvas 2D · 60 FPS target · runs fully client-side, no install