A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics

2024/10/02 by Jushan Chen, Chen, Jushan
Computer Science · Engineering · #FOS: Electrical engineering #FOS: Mathematics #Modular Robots and Swarm Intelligence #Optimization and Control (math.OC) #Optimization and Search Problems #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2410.03753

openalex publication_date 2024/10/02 · openalex created_date 2024/10/12 · openalex updated_date 2026/07/28

Abstract

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.

Related

• A Survey of Distributed Optimization Methods for Multi-Robot Systems
• Distributed Optimization Methods for Multi-Robot Systems: Part II -- A Survey
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• Distributed Model Predictive Consensus via the Alternating Direction\n Method of Multipliers
• Adaptive Consensus ADMM for Distributed Optimization