On distributed optimization under inequality constraints via Lagrangian primal-dual methods

Author(s):  
Minghui Zhu ◽  
Sonia Martinez
2014 ◽  
Vol 56 (2) ◽  
pp. 160-178 ◽  
Author(s):  
JUEYOU LI ◽  
CHANGZHI WU ◽  
ZHIYOU WU ◽  
QIANG LONG ◽  
XIANGYU WANG

AbstractWe consider a distributed optimization problem over a multi-agent network, in which the sum of several local convex objective functions is minimized subject to global convex inequality constraints. We first transform the constrained optimization problem to an unconstrained one, using the exact penalty function method. Our transformed problem has a smaller number of variables and a simpler structure than the existing distributed primal–dual subgradient methods for constrained distributed optimization problems. Using the special structure of this problem, we then propose a distributed proximal-gradient algorithm over a time-changing connectivity network, and establish a convergence rate depending on the number of iterations, the network topology and the number of agents. Although the transformed problem is nonsmooth by nature, our method can still achieve a convergence rate, ${\mathcal{O}}(1/k)$, after $k$ iterations, which is faster than the rate, ${\mathcal{O}}(1/\sqrt{k})$, of existing distributed subgradient-based methods. Simulation experiments on a distributed state estimation problem illustrate the excellent performance of our proposed method.


2019 ◽  
Vol 64 (10) ◽  
pp. 4050-4065
Author(s):  
Puya Latafat ◽  
Nikolaos M. Freris ◽  
Panagiotis Patrinos

2015 ◽  
Vol 166 (1) ◽  
pp. 23-51 ◽  
Author(s):  
Pavel Dvurechensky ◽  
Yurii Nesterov ◽  
Vladimir Spokoiny

Author(s):  
Wojciech Szynkiewicz ◽  
Jacek Błaszczyk

Optimization-based approach to path planning for closed chain robot systems An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a "quasi-dynamic" NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and minimize the proposed performance index. For numerical solution of the NLP problem, the IPOPT solver is used, which implements a nonlinear primal-dual interior-point method, one of the leading techniques for large-scale nonlinear optimization.


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