genpark-voronoi-coverage-lloyd-swarm-skill

Distributed Lloyd's algorithm for optimal robotic sensor swarm area coverage and Voronoi partition centroid convergence.

Architecture Overview

flowchart TD
    A[Swarm Telemetry / Kinematics / Field Sensors] -->|Agent States| B[MCP Server / Client]
    B --> C[genpark-voronoi-coverage-lloyd-swarm-skill Controller]
    C --> D[Reynolds Flocking / Lloyd Centroids / APF Potentials / ADMM Consensus / Virtual Structure]
    D --> E[Collision-Free Trajectories & Coordinated Formations]
    E -->|Motor / Actuator Setpoints| A

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Features

• 0 External Pip Dependencies: Pure Python standard library implementation.
• MCP Protocol Ready: Includes Model Context Protocol server script (mcp_server.py).
• Production Standard: Thoroughly tested collision-free navigation, geometric formation keeping, and consensus convergence.

Quick Start

python example_usage.py