Related papers: Generalized Proximal Methods for Pose Graph Optimi…
Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the…
The proximal gradient method is a generic technique introduced to tackle the non-smoothness in optimization problems, wherein the objective function is expressed as the sum of a differentiable convex part and a non-differentiable…
In this short survey, I revisit the role of the proximal point method in large scale optimization. I focus on three recent examples: a proximally guided subgradient method for weakly convex stochastic approximation, the prox-linear…
This paper focuses on stochastic proximal gradient methods for optimizing a smooth non-convex loss function with a non-smooth non-convex regularizer and convex constraints. To the best of our knowledge we present the first non-asymptotic…
We introduce a generic scheme for accelerating first-order optimization methods in the sense of Nesterov, which builds upon a new analysis of the accelerated proximal point algorithm. Our approach consists of minimizing a convex objective…
In this paper, we propose the primal-dual method of multipliers (PDMM) for distributed optimization over a graph. In particular, we optimize a sum of convex functions defined over a graph, where every edge in the graph carries a linear…
Nowadays, analysing data from different classes or over a temporal grid has attracted a great deal of interest. As a result, various multiple graphical models for learning a collection of graphical models simultaneously have been derived by…
We introduce Tempered Geodesic Markov Chain Monte Carlo (TG-MCMC) algorithm for initializing pose graph optimization problems, arising in various scenarios such as SFM (structure from motion) or SLAM (simultaneous localization and mapping).…
The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…
Pose Graph Optimization (PGO) is the problem of estimating a set of poses from pairwise relative measurements. PGO is a nonconvex problem, and currently no known technique can guarantee the computation of an optimal solution. In this paper,…
In this paper, we explore two fundamental first-order algorithms in convex optimization, namely, gradient descent (GD) and proximal gradient method (ProxGD). Our focus is on making these algorithms entirely adaptive by leveraging local…
In this paper, we propose a distributed stochastic second-order proximal method that enables agents in a network to cooperatively minimize the sum of their local loss functions without any centralized coordination. The proposed algorithm,…
We develop subgradient- and gradient-based methods for minimizing strongly convex functions under a notion which generalizes the standard Euclidean strong convexity. We propose a unifying framework for subgradient methods which yields two…
Many applications using large datasets require efficient methods for minimizing a proximable convex function subject to satisfying a set of linear constraints within a specified tolerance. For this task, we present a proximal projection…
This paper develops and analyzes an online distributed proximal-gradient method (DPGM) for time-varying composite convex optimization problems. Each node of the network features a local cost that includes a smooth strongly convex function…
Recently, there has been significant progress in the development of distributed first order methods. (At least) two different types of methods, designed from very different perspectives, have been proposed that achieve both exact and linear…
Reducing communication complexity is critical for efficient decentralized optimization. The proximal decentralized optimization (PDO) framework is particularly appealing, as methods within this framework can exploit functional similarity…
In this paper, we develop a distributed algorithm for solving a class of distributed convex optimization problems where the local objective functions can be a general nonsmooth function, and all equalities and inequalities are network-wide…