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Gilang Nugraha Putu Pratama

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Open access 2026

Safe Coverage Control via Optimal Transport and Control Barrier Functions

This paper addresses multi-agent coverage control with safety requirements in environments with obstacles. The nominal Optimal Transport Coverage Control (OTCC) law derives from the Kantorovich dual of the optimal transport problem and follows the prior formulation for workload balancing through auxiliary potentials. A...

Gilang Nugraha Putu Pratama, I. Ardiyanto, A. Cahyadi · 0 citations

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