compute_voronoi.m
Matlab code for computing voronoi partitions of the sites within a bounded polygon.

turtlebotcommander
ROS Controller software for turtlebot burger robots implementing adaptive coverage control algorithm. The code interfaces with Optitrack motion sensor system through VRPN interface.
rgbsensor
ROS node which interfaces with TCS34725 RGB light sensor.

Locational Optimization
\(\mathcal{L}^2\) Optimization
For more details, see thesis.