A Distributed Algorithm for Multi-Agent Optimization under Edge-Agreements

Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge agreements are defined locally to allow more flexibility than a global consensus. This work formulates a multi-agent optimization problem under edge agreements and proposes a continuous-time distributed augmented Lagrangian algorithm. Both analytical proof and numerical examples are provided to validate the effectiveness of the proposed distributed algorithm.