Thanks to the efforts of various project students over the years, distributed predictive control finally works on the robot trucks. What you see here is completely autonomous: we just stand at watch. Using its on-board computer and MILP optimization software, each truck plans its next 15 seconds of movement every 3 seconds, and then transmits its plan to the others. They know their own locations from an ultrasound positioning system, and communicate by wireless network. The trucks plan out of phase, to ensure there's time for the messages to be passed around. The "tube" approach to robustness helps them withstand uncertainty.