Distributed Large-scale Mixed-Integer Optimization with Application to Energy and Multi-robot Networks

Several decision and control tasks in cyber-physical networks can be formulated as large- scale optimization problems with coupling constraints. In these "constraint-coupled" problems, each agent is associated to a local decision variable, subject to individual constraints. This thesis explores the use of primal decomposition techniques to develop tailored distributed algorithms for this challenging set-up over graphs. We first develop a distributed scheme for convex problems over random time-varying graphs with non-uniform edge probabilities. The approach is then extended to unknown cost functions estimated online. Subsequently, we consider Mixed-Integer Linear Programs (MILPs), which are of great interest in smart grid control and cooperative robotics. We propose a distributed methodological framework to compute a feasible solution to the original MILP, with guaranteed suboptimality bounds, and extend it to general nonconvex problems. Monte Carlo simulations highlight that the approach represents a substantial breakthrough with respect to the state of the art, thus representing a valuable solution for new toolboxes addressing large-scale MILPs. We then propose a distributed Benders decomposition algorithm for asynchronous unreliable networks. The framework has been then used as starting point to develop distributed methodologies for a microgrid optimal control scenario. We develop an ad-hoc distributed strategy for a stochastic set-up with renewable energy sources, and show a case study with samples generated using Generative Adversarial Networks (GANs). We then introduce a software toolbox named ChoiRbot, based on the novel Robot Operating System 2, and show how it facilitates simulations and experiments in distributed multi-robot scenarios. Finally, we consider a Pickup-and-Delivery Vehicle Routing Problem for which we design a distributed method inspired to the approach of general MILPs, and show the efficacy through simulations and experiments in ChoiRbot with ground and aerial robots.

The J1030 field: a new window on early large scale structures and faint radio-galaxy populations

The correlations between the evolution of the Super Massive Black Holes (SMBHs) and their host galaxies suggests that the SMBH accretion on sub-pc scales (active galactice nuclei, AGN) is linked to the building of the galaxy over kpc scales, through the so called AGN feedback. Most of the galaxy assembly occurs in overdense large scale structures (LSSs). AGN residing in powerful sources in LSSs, such as the proto-brightest cluster galaxies (BCGs), can affect the evolution of the surrounding intra-cluster medium (ICM) and nearby galaxies. Among distant AGN, high-redshift radio-galaxies (HzRGs) are found to be excellent BCG progenitor candidates. In this Thesis we analyze novel interferometric observations of the so-called "J1030" field centered around the z = 6.3 SDSS Quasar J1030+0524, carried out with the Atacama large (sub-)millimetre array (ALMA) and the Jansky very large array (JVLA). This field host a LSS assembling around a powerful HzRG at z = 1.7 that shows evidence of positive AGN feedback in heating the surrounding ICM and promoting star-formation in multiple galaxies at hundreds kpc distances. We report the detection of gas-rich members of the LSS, including the HzRG. We showed that the LSS is going to evolve into a local massive cluster and the HzRG is the proto-BCG. we unveiled signatures of the proto-BCG's interaction with the surrounding ICM, strengthening the positive AGN feedback scenario. From the JVLA observations of the "J1030" we extracted one of the deepest extra-galactic radio surveys to date (~12.5 uJy at 5 sigma). Exploiting the synergy with the X-ray deep survey (~500 ks) we investigated the relation of the X-ray/radio emission of a X-ray-selected sample, unveiling that the radio emission is powered by different processes (star-formation and AGN), and that AGN-driven sample is mostly composed by radio-quiet objects that display a significant X-ray/radio correlation.

Moving toward stock units identification based on spatial population structure of marine species in the Mediterranean Sea and adjacent waters through multidisciplinary and holistic approaches for the sustainability of fisheries resources

Investigating stock identity of marine species in a multidisciplinary holistic approach can reveal patterns of complex spatial population structure and signatures of potential local adaptation. The population structure of common sole (Solea solea) in the Mediterranean Sea was delineated using genomic and otolith data, including single nucleotide polymorphisms (SNPs) markers and otolith data. SNPs were correlated with environmental and spatial variables to evaluate the impact of these features on the actual genetic population structure. Integrated holistic approach was applied to combine the tracers with different spatio-temporal scales. SNPs data was also used to illustrate the population structure of European hake (Merluccius merluccius) within the Alboran Sea, extending into the neighboring Mediterranean Sea and Atlantic Ocean. The aim was to identify patterns of neutral and potential adaptive genetic variation by applying seascape genomic framework. Results from both genetic and otolith data suggested significant divergence among putative populations of common sole, confirming a clear separation between Western, Adriatic Sea and Eastern Mediterranean Sea. Evidence of fine-scale population structure in the Western Mediterranean Sea was observed at outlier loci level and in the Adriatic. Our study not only indicates that separation among Mediterranean sole population is led primarily by neutral processes, but it also suggests the presence of local adaptation influenced by environmental and spatial factors. The holistic approach by considering the spatio-temporal scales of variation confirmed that the same pattern of separation between these geographical sites is currently occurring and has occurred for many generations. Results showed the occurrence of population structure in Merluccius merluccius by detecting westward–eastward differentiation among populations and distinct subgroups at a fine geographical scale using outlier SNPs. These results enhance the knowledge of the population structure of commercially relevant species to support the application of spatial stock assessment models, including a redefinition of fishery management units.