Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust Multi-Robot Trajectory Optimization Using Alternating Direction
  Method of Multiplier   We propose a variant of alternating direction method of multiplier (ADMM) to
solve constrained trajectory optimization problems. Our ADMM framework breaks a
joint optimization into small sub-problems, leading to a low iteration cost and
decentralized parameter updates. Starting from a collision-free initial
trajectory, our method inherits the theoretical properties of primal interior
point method (P-IPM), i.e., guaranteed collision avoidance and homotopy
preservation throughout optimization, while being orders of magnitude faster.
We have analyzed the convergence and evaluated our method for time-optimal
multi-UAV trajectory optimizations and simultaneous goal-reaching of multiple
robot arms, where we take into consider kinematics-, dynamics-limits, and
homotopy-preserving collision constraints. Our method highlights an order of
magnitude's speedup, while generating trajectories of comparable qualities as
state-of-the-art P-IPM solver.

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The categories of this paper are: atom-ph
24
The categories of this paper are: dg-ga
36
The categories of this paper are: cmp-lg
33
The categories of this paper are: plasm-ph
25
The categories of this paper are: patt-sol
26
The categories of this paper are: bayes-an
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con
6
The categories of this paper are: astro-ph
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
15
The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
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The categories of this paper are: adap-org
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The categories of this paper are: comp-gas
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The categories of this paper are: nlin