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The Augmented Lagrangian Method (ALM) is an iterative method for the solution of equality-constrained non-linear programming problems. In contrast to the quadratic penalty method, the ALM can satisfy equality constraints in an exact way.…
Motivated by robotic trajectory optimization problems we consider the Augmented Lagrangian approach to constrained optimization. We first propose an alternative augmentation of the Lagrangian to handle the inequality case (not based on…
A new algorithm for solving large-scale convex optimization problems with a separable objective function is proposed. The basic idea is to combine three techniques: Lagrangian dual decomposition, excessive gap and smoothing. The main…
The objective of this paper is to introduce and demonstrate a robust methodology for solving multi-constrained 3D topology optimization problems. The proposed methodology is a combination of the topological level-set formulation, augmented…
In this paper, we consider augmented Lagrangian (AL) algorithms for solving large-scale nonlinear optimization problems that execute adaptive strategies for updating the penalty parameter. Our work is motivated by the recently proposed…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
We propose a new fast algorithm for solving one of the standard formulations of frame-based image deconvolution: an unconstrained optimization problem, involving an $\ell_2$ data-fidelity term and a non-smooth regularizer. Our approach is…
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in automatic differentiation to develop a general-purpose…
We develop a decomposition method based on the augmented Lagrangian framework to solve a broad family of semidefinite programming problems, possibly with nonlinear objective functions, nonsmooth regularization, and general linear…
We present a numerical method for the minimization of constrained optimization problems where the objective is augmented with large quadratic penalties of inconsistent equality constraints. Such objectives arise from quadratic integral…
Motivated by an inertial primal-dual dynamical system with vanishing damping, we propose a class of accelerated augmented Lagrangian methods with Nesterov extrapolation parameters for a linearly constrained convex optimization problem with…
By exploiting double-penalty terms for the primal subproblem, we develop a novel relaxed augmented Lagrangian method for solving a family of convex optimization problems subject to equality or inequality constraints. The method is then…
A multi-agent optimization problem motivated by the management of energy systems is discussed. The associated cost function is separable and convex although not necessarily strongly convex and there exist edge-based coupling equality…
High-dimensional regression often suffers from heavy-tailed noise and outliers, which can severely undermine the reliability of least-squares based methods. To improve robustness, we adopt a non-smooth Wilcoxon score based rank objective…
This work aims to minimize a continuously differentiable convex function with Lipschitz continuous gradient under linear equality constraints. The proposed inertial algorithm results from the discretization of the second-order primal-dual…
The Euler Elastica (EE) model with surface curvature can generate artifact-free results compared with the traditional total variation regularization model in image processing. However, strong nonlinearity and singularity due to the…
Unsupervised feature selection has drawn wide attention in the era of big data since it is a primary technique for dimensionality reduction. However, many existing unsupervised feature selection models and solution methods were presented…
Ill-posed linear inverse problems (ILIP), such as restoration and reconstruction, are a core topic of signal/image processing. A standard approach to deal with ILIP uses a constrained optimization problem, where a regularization function is…
Lagrangian-based methods are classical methods for solving convex optimization problems with equality constraints. We present novel prediction-correction frameworks for such methods and their variants, which can achieve $O(1/k)$ non-ergodic…
The objective of this paper is to introduce and demonstrate a robust method for multi-constrained topology optimization. The method is derived by combining the topological sensitivity with the classic augmented Lagrangian formulation. The…