相关论文: Distributed Affine Body Dynamics with Adaptive Con…
This dissertation explores block decomposable methods for large-scale optimization problems. It focuses on alternating direction method of multipliers (ADMM) schemes and block coordinate descent (BCD) methods. Specifically, it introduces a…
Inexact alternating direction multiplier methods (ADMMs) are developed for solving general separable convex optimization problems with a linear constraint and with an objective that is the sum of smooth and nonsmooth terms. The approach…
ADMM is a popular algorithm for solving convex optimization problems. Applying this algorithm to distributed consensus optimization problem results in a fully distributed iterative solution which relies on processing at the nodes and…
Many machine learning models, including those with non-smooth regularizers, can be formulated as consensus optimization problems, which can be solved by the alternating direction method of multipliers (ADMM). Many recent efforts have been…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of high communication and computing resource requirements. Our…
Distributed computing has been widely applied in distributed edge networks for reducing the processing burden of high-dimensional data centralization, where a high-dimensional computational task is decomposed into multiple low-dimensional…
A stable added-mass partitioned (AMP) algorithm is developed for fluid-structure interaction (FSI) problems involving viscous incompressible flow and compressible elastic-solids. The AMP scheme remains stable and second-order accurate even…
The control of large buildings encounters challenges in computational efficiency due to their size and nonlinear components. To address these issues, this paper proposes a Piecewise Affine (PWA)-based distributed scheme for Model Predictive…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
We consider the problem of achieving average consensus among multiple agents, where the inter-agent communication network is depicted by a graph. We consider the discrete-time consensus protocol where each agent updates its value as a…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
A stable added-mass partitioned (AMP) algorithm is developed for fluid-structure interaction (FSI) problems involving viscous incompressible flow and compressible elastic solids. Deforming composite grids are used to effectively handle the…
In this paper, we propose a unified framework of inexact stochastic Alternating Direction Method of Multipliers (ADMM) for solving nonconvex problems subject to linear constraints, whose objective comprises an average of finite-sum smooth…
The alternating direction method of multipliers (ADMM) has been popular for solving many signal processing problems, convex or nonconvex. In this paper, we study an asynchronous implementation of the ADMM for solving a nonconvex nonsmooth…
The alternating direction method of multipliers (ADMM) is a popular approach for solving optimization problems that are potentially non-smooth and with hard constraints. It has been applied to various computer graphics applications,…
UAV swarms can form virtual antenna arrays to exploit additional spatial degrees of freedom and enhance integrated sensing and communication (ISAC). The optimization of UAV positions is challenging due to the distributed nature of swarms…
Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
Alternating Direction Method of Multipliers (ADMM) algorithm has been widely adopted for solving the distributed optimization problem (DOP). In this paper, a new distributed parallel ADMM algorithm is proposed, which allows the agents to…