Implementation of Lloyd's algorithm for multi-agent coverage control in 3D.
Videos of the simulations obtained by running the examples in the src folder:
- 10 agents moving in a cube with uniform density (plotting agents, centroid and boundary of the Voronoi cells)
- 10 agents moving in a dodecahedron with Gaussian density (plotting only agents)
Thanks to Alessia Benevento for the first version of this code, based on the 2D implementation available in the swarm_sim repository.
The code to compute bounded Voronoi cells in 3D is from this repository.
Additional utils from MATLAB Central File Exchange are used to draw Platonic solids and compute permutations.