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Distributed Coverage Control: Voronoi Swarm

A swarm of robots spreads out to cover an area using only local Voronoi-cell information and a coverage-gradient rule, converging toward a centroidal Voronoi tessellation over a weighted importance field — compare it live against a naive repulsion-only spread.

Robotics & Kinematics3DAdvanced60 FPS

A fleet of ground robots must spread itself across an arena so that every point is close to some robot — weighted by how much each point matters. Each robot computes its own Voronoi cell against its neighbors and steers toward that cell's weighted centroid, a fully distributed control law that needs no central planner and no robot knowing the full swarm's state. Switch to the naive baseline to see plain neighbor-repulsion spread the same robots evenly in space while ignoring the importance field entirely, then compare the live coverage-cost metric between the two strategies.

⚙ Under the hood

A fleet of robots spreads itself across an arena using only local Voronoi-cell information: each robot steers toward the weighted centroid of its own cell, a fully distributed law with no central planner, converging to a near-optimal centroidal Voronoi tessellation over a weighted importance field. Toggle a naive neighbor-repulsion baseline to see it ignore the importance field and leave hotspots under-covered, and compare the live coverage-cost metric between the two strategies.

Three.jsMulti-Robot SystemsCoverage ControlVoronoi DiagramDistributed Algorithms

3D · Three.js / WebGL renderer · 60 FPS target · runs fully client-side, no install