This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each sampling step via a stabilizing decentralized real-time iteration scheme using the alternating direction method of multipliers. The efficient implementation does not require a central coordinator, executes onboard the hovercraft, and facilitates sampling intervals in the millisecond range. The formation control experiments showcase the flexibility of the approach on scenarios with point-to-point transitions, trajectory tracking, collision avoidance, and moving obstacles.

Acoustic levitation has recently demonstrated the ability to create volumetric content by trapping and quickly moving particles along reference paths to reveal shapes in mid-air. However, the problem of specifying physically feasible trap trajectories to display desired shapes remains unsolved. Even if only the final shape is of interest to the content creator, the trap trajectories need to determine where and when the traps need to be, for the particle to reveal the intended shape. We propose OptiTrap , the first structured numerical approach to compute trap trajectories for acoustic levitation displays. Our approach generates trap trajectories that are physically feasible and nearly time-optimal, and reveal generic mid-air shapes, given only a reference path (i.e., a shape with no time information). We provide a multi-dimensional model of the acoustic forces around a trap to model the trap-particle system dynamics and compute optimal trap trajectories by formulating and solving a non-linear path following problem. We formulate our approach and evaluate it, demonstrating how OptiTrap consistently produces feasible and nearly optimal paths, with increases in size, frequency, and accuracy of the shapes rendered, allowing us to demonstrate larger and more complex shapes than ever shown to date.

Abstract This paper presents a novel partially distributed outer approximation algorithm, named PaDOA, for solving a class of structured mixed integer convex programming problems to global optimality. The proposed scheme uses an iterative outer approximation method for coupled mixed integer optimization problems with separable convex objective functions, affine coupling constraints, and compact domain. PaDOA proceeds by alternating between solving large-scale structured mixed-integer linear programming problems and partially decoupled mixed-integer nonlinear programming subproblems that comprise much fewer integer variables. We establish conditions under which PaDOA converges to global minimizers after a finite number of iterations and verify these properties with an application to thermostatically controlled loads and to mixed-integer regression.

Complex cognition and relatively large brains are distributed across various taxa, and many primarily verbal hypotheses exist to explain such diversity. Yet, mathematical approaches formalizing verbal hypotheses would help deepen the understanding of brain and cognition evolution. With this aim, we combine elements of life history and metabolic theories to formulate a metabolically explicit mathematical model for brain life history evolution. We assume that some of the brain's energetic expense is due to production (learning) and maintenance (memory) of energy-extraction skills (or cognitive abilities, knowledge, information, etc.). We also assume that individuals use such skills to extract energy from the environment, and can allocate this energy to grow and maintain the body, including brain and reproductive tissues. The model can be used to ask what fraction of growth energy should be allocated at each age, given natural selection, to growing brain and other tissues under various biological settings. We apply the model to find uninvadable allocation strategies under a baseline setting ("me vs nature"), namely when energy-extraction challenges are environmentally determined and are overcome individually but possibly with maternal help, and use modern-human data to estimate model's parameter values. The resulting uninvadable strategies yield predictions for brain and body mass throughout ontogeny and for the ages at maturity, adulthood, and brain growth arrest. We find that: (1) a me-vs-nature setting is enough to generate adult brain and body mass of ancient human scale and a sequence of childhood, adolescence, and adulthood stages; (2) large brains are favored by intermediately challenging environments, moderately effective skills, and metabolically expensive memory; and (3) adult skill is proportional to brain mass when metabolic costs of memory saturate the brain metabolic rate allocated to skills.