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.
@article{arxiv.2410.03753,
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}
}