4,721 research outputs found
A Parametric Non-Convex Decomposition Algorithm for Real-Time and Distributed NMPC
A novel decomposition scheme to solve parametric non-convex programs as they
arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of
a fixed number of alternating proximal gradient steps and a dual update per
time step. Hence, the proposed approach is attractive in a real-time
distributed context. Assuming that the Nonlinear Program (NLP) is
semi-algebraic and that its critical points are strongly regular, contraction
of the sequence of primal-dual iterates is proven, implying stability of the
sub-optimality error, under some mild assumptions. Moreover, it is shown that
the performance of the optimality-tracking scheme can be enhanced via a
continuation technique. The efficacy of the proposed decomposition method is
demonstrated by solving a centralised NMPC problem to control a DC motor and a
distributed NMPC program for collaborative tracking of unicycles, both within a
real-time framework. Furthermore, an analysis of the sub-optimality error as a
function of the sampling period is proposed given a fixed computational power.Comment: 16 pages, 9 figure
Fast Proximal Linearized Alternating Direction Method of Multiplier with Parallel Splitting
The Augmented Lagragian Method (ALM) and Alternating Direction Method of
Multiplier (ADMM) have been powerful optimization methods for general convex
programming subject to linear constraint. We consider the convex problem whose
objective consists of a smooth part and a nonsmooth but simple part. We propose
the Fast Proximal Augmented Lagragian Method (Fast PALM) which achieves the
convergence rate , compared with by the traditional PALM. In
order to further reduce the per-iteration complexity and handle the
multi-blocks problem, we propose the Fast Proximal ADMM with Parallel Splitting
(Fast PL-ADMM-PS) method. It also partially improves the rate related to the
smooth part of the objective function. Experimental results on both synthesized
and real world data demonstrate that our fast methods significantly improve the
previous PALM and ADMM.Comment: AAAI 201
Asynchronous Distributed Optimization over Lossy Networks via Relaxed ADMM: Stability and Linear Convergence
In this work we focus on the problem of minimizing the sum of convex cost
functions in a distributed fashion over a peer-to-peer network. In particular,
we are interested in the case in which communications between nodes are prone
to failures and the agents are not synchronized among themselves. We address
the problem proposing a modified version of the relaxed ADMM, which corresponds
to the Peaceman-Rachford splitting method applied to the dual. By exploiting
results from operator theory, we are able to prove the almost sure convergence
of the proposed algorithm under general assumptions on the distribution of
communication loss and node activation events. By further assuming the cost
functions to be strongly convex, we prove the linear convergence of the
algorithm in mean to a neighborhood of the optimal solution, and provide an
upper bound to the convergence rate. Finally, we present numerical results
testing the proposed method in different scenarios.Comment: To appear in IEEE Transactions on Automatic Contro
A Smooth Primal-Dual Optimization Framework for Nonsmooth Composite Convex Minimization
We propose a new first-order primal-dual optimization framework for a convex
optimization template with broad applications. Our optimization algorithms
feature optimal convergence guarantees under a variety of common structure
assumptions on the problem template. Our analysis relies on a novel combination
of three classic ideas applied to the primal-dual gap function: smoothing,
acceleration, and homotopy. The algorithms due to the new approach achieve the
best known convergence rate results, in particular when the template consists
of only non-smooth functions. We also outline a restart strategy for the
acceleration to significantly enhance the practical performance. We demonstrate
relations with the augmented Lagrangian method and show how to exploit the
strongly convex objectives with rigorous convergence rate guarantees. We
provide numerical evidence with two examples and illustrate that the new
methods can outperform the state-of-the-art, including Chambolle-Pock, and the
alternating direction method-of-multipliers algorithms.Comment: 35 pages, accepted for publication on SIAM J. Optimization. Tech.
Report, Oct. 2015 (last update Sept. 2016
A Primal-Dual Algorithmic Framework for Constrained Convex Minimization
We present a primal-dual algorithmic framework to obtain approximate
solutions to a prototypical constrained convex optimization problem, and
rigorously characterize how common structural assumptions affect the numerical
efficiency. Our main analysis technique provides a fresh perspective on
Nesterov's excessive gap technique in a structured fashion and unifies it with
smoothing and primal-dual methods. For instance, through the choices of a dual
smoothing strategy and a center point, our framework subsumes decomposition
algorithms, augmented Lagrangian as well as the alternating direction
method-of-multipliers methods as its special cases, and provides optimal
convergence rates on the primal objective residual as well as the primal
feasibility gap of the iterates for all.Comment: This paper consists of 54 pages with 7 tables and 12 figure
First order algorithms in variational image processing
Variational methods in imaging are nowadays developing towards a quite
universal and flexible tool, allowing for highly successful approaches on tasks
like denoising, deblurring, inpainting, segmentation, super-resolution,
disparity, and optical flow estimation. The overall structure of such
approaches is of the form ; where the functional is a data fidelity term also
depending on some input data and measuring the deviation of from such
and is a regularization functional. Moreover is a (often linear)
forward operator modeling the dependence of data on an underlying image, and
is a positive regularization parameter. While is often
smooth and (strictly) convex, the current practice almost exclusively uses
nonsmooth regularization functionals. The majority of successful techniques is
using nonsmooth and convex functionals like the total variation and
generalizations thereof or -norms of coefficients arising from scalar
products with some frame system. The efficient solution of such variational
problems in imaging demands for appropriate algorithms. Taking into account the
specific structure as a sum of two very different terms to be minimized,
splitting algorithms are a quite canonical choice. Consequently this field has
revived the interest in techniques like operator splittings or augmented
Lagrangians. Here we shall provide an overview of methods currently developed
and recent results as well as some computational studies providing a comparison
of different methods and also illustrating their success in applications.Comment: 60 pages, 33 figure
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