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This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level languages make it useful for quickly designing an optimization-based control algorithm by putting together different algorithmic components that can be readily connected and interchanged. Since the core of acados is written on top of a high-performance linear algebra library, we do not sacrifice computational performance. Thus, we aim to provide both flexibility and performance through modularity, without the need to rely on automatic code generation, which facilitates maintainability and extensibility. The main features of acados are: efficient optimal control algorithms targeting embedded devices implemented in C, linear algebra based on the high-performance BLASFEO library, user-friendly interfaces to Matlab and Python, and compatibility with the modeling language of CasADi. acados is free and open-source software released under the permissive BSD 2-Clause license.
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This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information. The assignment results are then used to generate energy-optimal trajectories for each agent which have guaranteed collision avoidance through safety constraints. We present the conditions for optimality and discuss the robustness of the solution. The efficacy of the proposed approach is validated through a numerical case study to characterize the frameworks performance on a set of dynamic goals.
Much of the progress made in time-domain astronomy is accomplished by relating observational multi-wavelength time series data to models derived from our understanding of physical laws. This goal is typically accomplished by dividing the task in two: collecting data (observing), and constructing models to represent that data (theorizing). Owing to the natural tendency for specialization, a disconnect can develop between the best available theories and the best available data, potentially delaying advances in our understanding new classes of transients. We introduce MOSFiT: the Modular Open-Source Fitter for Transients, a Python-based package that downloads transient datasets from open online catalogs (e.g., the Open Supernova Catalog), generates Monte Carlo ensembles of semi-analytical light curve fits to those datasets and their associated Bayesian parameter posteriors, and optionally delivers the fitting results back to those same catalogs to make them available to the rest of the community. MOSFiT is designed to help bridge the gap between observations and theory in time-domain astronomy; in addition to making the application of existing models and creation of new models as simple as possible, MOSFiT yields statistically robust predictions for transient characteristics, with a standard output format that includes all the setup information necessary to reproduce a given result. As large-scale surveys such as LSST discover entirely new classes of transients, tools such as MOSFiT will be critical for enabling rapid comparison of models against data in statistically consistent, reproducible, and scientifically beneficial ways.
This paper presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class of problems where the cost is expressed as a time-varying norm-like function of the control input, enabling inclusion of complex operational constraints in the control planning problem. First, it is shown that the reachable sets for this problem have identical properties to those in prior works using constant cost functions, enabling use of existing algorithms in conjunction with newly derived contact and support functions. By reformulating the optimal control problem as a semi-infinite convex program, it is also demonstrated that the time-invariant component of the commonly studied primer vector is an outward normal vector to the reachable set at the target state. Using this formulation, a fast and robust algorithm that provides globally optimal impulsive control input sequences is proposed. The algorithm iteratively refines estimates of an outward normal vector to the reachable set at the target state and a minimal set of control input times until the optimality criteria are satisfied to within a user-specified tolerance. Next, optimal control inputs are computed by solving a quadratic program. The algorithm is validated through simulations of challenging example problems based on the recently proposed Miniaturized Distributed Occulter/Telescope small satellite mission, which demonstrate that the proposed algorithm converges several times faster than comparable algorithms in literature.
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features interfaces to modeling tools specifically designed for robotic applications. This paper outlines the general concept of the toolbox, its main building blocks, and highlights selected application examples. The library contains several tools to design and evaluate controllers, model dynamical systems and solve optimal control problems. The CT was designed for intuitive modeling of systems governed by ordinary differential or difference equations. It supports rapid prototyping of cost functions and constraints and provides standard interfaces for different optimal control solvers. To date, we support Single Shooting, the iterative Linear-Quadratic Regulator, Gauss-Newton Multiple Shooting and classical Direct Multiple Shooting. We provide interfaces to general purpose NLP solvers and Riccati-based linear-quadratic optimal control solvers. The CT was designed to solve large-scale optimal control and estimation problems efficiently and allows for online control of dynamic systems. Some of the key features to enable fast run-time performance are full compatibility with Automatic Differentiation, derivative code generation, and multi-threading. Still, the CT is designed as a modular framework whose building blocks can also be used for other control and estimation applications such as inverse dynamics control, extended Kalman filters or kinematic planning.
As a common strategy of contagious disease containment, lockdown will inevitably weaken the economy. The ongoing COVID-19 pandemic underscores the trade-off arising from public health and economic cost. An optimal lockdown policy to resolve this trade-off is highly desired. Here we propose a mathematical framework of pandemic control through an optimal non-uniform lockdown, where our goal is to reduce the economic activity as little as possible while decreasing the number of infected individuals at a prescribed rate. This framework allows us to efficiently compute the optimal lockdown policy for general epidemic spread models, including both the classical SIS/SIR/SEIR models and a new model of COVID-19 transmissions. We demonstrate the power of this framework by analyzing publicly available data of inter-county travel frequencies to analyze a model of COVID-19 spread in the 62 counties of New York State. We find that an optimal lockdown based on epidemic status in April 2020 would have reduced economic activity more stringently outside of New York City compared to within it, even though the epidemic was much more prevalent in New York City at that point. Such a counterintuitive result highlights the intricacies of pandemic control and sheds light on future lockdown policy design.
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