Online Decentralized Decision Making With Inequality Constraints: An ADMM approach

Abstract

We discuss an online decentralized decision making problem where the agents are coupled with affine inequality constraints. Alternating Direction Method of Multipliers (ADMM) is used as the computation engine and we discuss the convergence of the algorithm in an online setting. To be specific, when decisions have to be made sequentially with a fixed time step, there might not be enough time for the ADMM to converge before the scenario changes and the decision needs to be updated. In this case, a suboptimal solution is employed and we analyze the optimality gap given the convergence condition. Moreover, in many cases, the decision making problem changes gradually over time. We propose a warm-start scheme to accelerate the convergence of ADMM and analyze the benefit of the warmstart. The proposed method is demonstrated in a decentralized multiagent control barrier function problem with simulation.

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“…where R T þ denotes the non-negative orthant. However, in this work, we use pointwise maximum which is also efficient for converting inequality-based ADMM in required format [36]. Thus, constraints of form g (x, y) ≤ 0 are converted to an equivalent form {0, g (x, y)} = 0.…”