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A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics (2410.03753v1)
Published 2 Oct 2024 in math.OC, cs.SY, and eess.SY
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.