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cs.RO2021
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond +2
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniqu…
cs.RO2021★ 6 cited
A Survey of Distributed Optimization Methods for Multi-Robot Systems
Trevor Halsted, Ola Shorinwa, Javier Yu +1
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constraine…