18 papers
A Forward-Inverse Dynamic Game Framework for Enhanced Multi-Agent Trajectory Planning
Tianle Liu, Youcheng Niu, Jing Zeng +2
This paper studies feedback Nash equilibrium (FBNE) seeking for multi-agent trajectory planning in nonlinear dynamical systems with unknown agents' objectives and state-dependent i…
Optimal Parameter Design for DIGing on Minimizing Unweighted Sum of Squares
Qiuchen Tian, Li Chai, Jinming Xu
There is no general method for designing proper parameters to achieve faster convergence in distributed optimization algorithms. In this paper, we consider the distributed inexact…
Exact Worst-case Convergence Rates of Distributed Gradient Tracking Methods
Qiuchen Tian, Li Chai, Jinming Xu
Different from most existing literature in the analysis of distributed optimization algorithms that reports sufficient convergence conditions leading to a conservative convergence…
Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM
Yixian Zhao, Yan Huang, Yang Xu +2
Pose graph optimization (PGO) is a key back-end component for state estimation in networked multi-robot simultaneous localization and mapping (SLAM). In object-based multi-robot SL…
Adaptive Polyak Stepsize with Level-value Adjustment for Distributed Optimization
Chen Ouyang, Yongyang Xiong, Jinming Xu +2
Stepsize selection remains a critical challenge in the practical implementation of distributed optimization. Existing distributed algorithms often rely on restrictive prior knowled…
Heterogeneous Stochastic Momentum ADMM for Distributed Nonconvex Composite Optimization
Yangming Zhang, Yongyang Xiong, Jinming Xu +2
This paper investigates the distributed stochastic nonconvex and nonsmooth composite optimization problem. Existing stochastic typically rely on uniform step size strictly bounded…