What you are seeing are not centipedes.
They are Millipedes (Length: 1" – 1 1/2") Brownish and worm-like in appearance with many body segments, millipedes have two pairs of legs on each segment. They typically live outside in moist vegetation, leaf litter and mulch and feed upon decaying organic wood and plant matter. When conditions are right, migrations can occur and large numbers will find their way inside homes through cracks and crevices. When disturbed, they curl up like a watch spring.
With all of the rain that we have had lately the millipedes are looking for a nice dry place. The usally die within 24-hours because it is too dry in your house. Simply vacuum them up when you find them on your floor.
By the way, they are not easily controlled. Pesticides do not work on them because of their hard shell.
Learn to accept them as part of living in The Villages.