A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics
Fuente:
arXiv
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| Autor principal: | |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866910634416799744 |
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| author | Chen, Jushan |
| author_facet | Chen, Jushan |
| contents | This paper presents a tutorial on the Consensus Alternating Direction Method of Multipliers (Consensus ADMM) for distributed optimization, with a specific focus on applications in multi-robot systems. In this tutorial, we derive the consensus ADMM algorithm, highlighting its connections to the augmented Lagrangian and primal-dual methods. Finally, we apply Consensus ADMM to an example problem for trajectory optimization of a multi-agent system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_03753 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics Chen, Jushan Optimization and Control Systems and Control This paper presents a tutorial on the Consensus Alternating Direction Method of Multipliers (Consensus ADMM) for distributed optimization, with a specific focus on applications in multi-robot systems. In this tutorial, we derive the consensus ADMM algorithm, highlighting its connections to the augmented Lagrangian and primal-dual methods. Finally, we apply Consensus ADMM to an example problem for trajectory optimization of a multi-agent system. |
| title | A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2410.03753 |