A distributed optimization framework for localization and formation control: applications to vision-based measurements

Multiagent systems have been a major area of research for the last 15 years. This interest has been motivated by tasks that can be executed more rapidly in a collaborative manner or that are nearly impossible to carry out otherwise. To be effective, the agents need to have the notion of a common goal shared by the entire network (for instance, a desired formation) and individual control laws to realize the goal. The common goal is typically centralized, in the sense that it involves the state of all the agents at the same time. On the other hand, it is often desirable to have individual control laws that are distributed, in the sense that the desired action of an agent depends only on the measurements and states available at the node and at a small number of neighbors. This is an attractive quality because it implies an overall system that is modular and intrinsically more robust to communication delays and node failures

Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance

We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.ARL grant W911NF-08-2-0004, ARO grant W911NF-13-1-0350, ONR grants N00014-07-1-0829, N00014-14-1-0510, N00014-15-1-2115, NSF grant IIS-1426840, CNS-1521617 and United Technologies

A universal correction to higher spin entanglement entropy

We consider conformal field theories in 1+1 dimensions with W-algebra symmetries, deformed by a chemical potential \mu for the spin-three current. We show that the order \mu^2 correction to the Re'nyi and entanglement entropies of a single interval in the deformed theory, on the infinite spatial line and at finite temperature, is universal. The correction is completely determined by the operator product expansion of two spin-three currents, and by the expectation values of the stress tensor, its descendants and its composites, evaluated on the n-sheeted Riemann surface branched along the interval. This explains the recently found agreement of the order \mu^2 correction across distinct free field CFTs and higher spin black hole solutions holographically dual to CFTs with W-symmetry.Comment: Version accepted for publication as Rapid Communications in Phys. Rev. D. Included an expanded discussion of the prescription used for contact terms in relevant integrals; typos correcte

Pulsatory Patterns in Active Fluids

We show that pulsatory patterns arise in thin active films in which two chemical species regulate active stress. The regulating species diffuse within the film and are advected by self-generated flows resulting from active stress gradients. Spontaneous pulsatory patterns emerge when the following conditions are met: (i) the fast-diffusing species up-regulates and the slow-diffusing species down-regulates active stress, or (ii) the active stress up-regulator turns over faster compared to the active stress down-regulator. Our study, motivated by pulsatory patterns in the actomyosin cortex in cells and tissues, provides a simple generic mechanism for oscillatory patterns in active fluids

Spacetime Properties of ZZ D-Branes

We study the tachyon and the RR field sourced by the $(m,n)$ ZZ D-branes in type 0 theories using three methods. We first use the mini-superspace approximation of the closed string wave functions of the tachyon and the RR scalar to probe these fields. These wave functions are then extended beyond the mini-superspace approximation using mild assumptions which are motivated by the properties of the corresponding wave functions in the mini-superspace limit. These are then used to probe the tachyon and the RR field sourced. Finally we study the space time fields sourced by the $(m,n)$ ZZ D-branes using the FZZT brane as a probe. In all the three methods we find that the tension of the $(m,n)$ ZZ brane is $mn$ times the tension of the $(1,1)$ ZZ brane. The RR charge of these branes is non-zero only for the case of both $m$ and $n$ odd, in which case it is identical to the charge of the $(1,1)$ brane. As a consistency check we also verify that the space time fields sourced by the branes satisfy the corresponding equations of motion.Comment: 32 pages, 4 figures. Clarifications on the principal characterization of ZZ branes added. Reference adde