A Tutorial on Distributed Optimization for Cooperative Robotics: From Setups and Algorithms to Toolboxes and Research Directions
Uloženo v:
| Název: | A Tutorial on Distributed Optimization for Cooperative Robotics: From Setups and Algorithms to Toolboxes and Research Directions |
|---|---|
| Autoři: | Testa, Andrea, Carnevale, Guido, Notarstefano, Giuseppe |
| Zdroj: | Proceedings of the IEEE. 113:40-65 |
| Publication Status: | Preprint |
| Informace o vydavateli: | Institute of Electrical and Electronics Engineers (IEEE), 2025. |
| Rok vydání: | 2025 |
| Témata: | FOS: Computer and information sciences, Computer Science - Robotics, Optimization and Control (math.OC), FOS: Mathematics, Cooperating robots, distributed optimization, distributed robot systems, optimization and optimal control, Mathematics - Optimization and Control, Robotics (cs.RO) |
| Popis: | Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis of distributed optimization algorithms has received significant attention, its application to cooperative robotics has not been investigated in detail. In this paper, we show how notable scenarios in cooperative robotics can be addressed by suitable distributed optimization setups. Specifically, after a brief introduction on the widely investigated consensus optimization (most suited for data analytics) and on the partition-based setup (matching the graph structure in the optimization), we focus on two distributed settings modeling several scenarios in cooperative robotics, i.e., the so-called constraint-coupled and aggregative optimization frameworks. For each one, we consider use-case applications, and we discuss tailored distributed algorithms with their convergence properties. Then, we revise state-of-the-art toolboxes allowing for the implementation of distributed schemes on real networks of robots without central coordinators. For each use case, we discuss its implementation in these toolboxes and provide simulations and real experiments on networks of heterogeneous robots. |
| Druh dokumentu: | Article |
| Popis souboru: | application/pdf |
| ISSN: | 1558-2256 0018-9219 |
| DOI: | 10.1109/jproc.2025.3557698 |
| DOI: | 10.48550/arxiv.2309.04257 |
| Přístupová URL adresa: | http://arxiv.org/abs/2309.04257 https://hdl.handle.net/11585/1025488 https://ieeexplore.ieee.org/document/10969623 https://doi.org/10.1109/jproc.2025.3557698 |
| Rights: | IEEE Copyright arXiv Non-Exclusive Distribution |
| Přístupové číslo: | edsair.doi.dedup.....c7eaf10566e36957f9622378e705e1ab |
| Databáze: | OpenAIRE |
Full Text Finder 
Nájsť tento článok vo Web of Science | Abstrakt: | Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis of distributed optimization algorithms has received significant attention, its application to cooperative robotics has not been investigated in detail. In this paper, we show how notable scenarios in cooperative robotics can be addressed by suitable distributed optimization setups. Specifically, after a brief introduction on the widely investigated consensus optimization (most suited for data analytics) and on the partition-based setup (matching the graph structure in the optimization), we focus on two distributed settings modeling several scenarios in cooperative robotics, i.e., the so-called constraint-coupled and aggregative optimization frameworks. For each one, we consider use-case applications, and we discuss tailored distributed algorithms with their convergence properties. Then, we revise state-of-the-art toolboxes allowing for the implementation of distributed schemes on real networks of robots without central coordinators. For each use case, we discuss its implementation in these toolboxes and provide simulations and real experiments on networks of heterogeneous robots. |
|---|---|
| ISSN: | 15582256 00189219 |
| DOI: | 10.1109/jproc.2025.3557698 |