A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics
<|reference_start|>A Brief Tutorial on Consensus ADMM for Distributed Optimization with Applications in Robotics: 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.<|reference_end|>
@article{chen2024a,
    title={A Brief Tutorial on Consensus ADMM for Distributed Optimization with
  Applications in Robotics},
    author={Jushan Chen},
    journal={arXiv preprint arXiv:2410.03753},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.03753},
    primaryClass={math.OC cs.SY eess.SY}
}