Distributed Optimization Methods for Smart Cyber-Physical Networks

Project Information

OPT4SMART

Grant agreement ID: 638992

DOI 10.3030/638992

Project closed

EC signature date 7 April 2015

Start date 1 October 2015

End date 30 September 2021

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 488 750,00

EU contribution € 1 488 750,00

Coordinated by

ALMA MATER STUDIORUM - UNIVERSITA DI BOLOGNA
Italy

Publications

Peer reviewed articles (31)

DISROPT: a Python Framework for Distributed Optimization

Author(s): Francesco Farina, Andrea Camisa, Andrea Testa, Ivano Notarnicola, Giuseppe Notarstefano
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 2666-2671, ISSN 2405-8963
Publisher: IFAC
DOI: 10.1016/j.ifacol.2020.12.382

Randomized Block Proximal Methods for Distributed Stochastic Big-Data Optimization

Author(s): Francesco Farina, Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, Issue 66/9, 2021, Page(s) 4000-4014, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.3027647

ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics

Author(s): Andrea Testa; Andrea Camisa; Giuseppe Notarstefano
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061366

Combining ADMM and tracking over networks for distributed constraint-coupled optimization

Author(s): Alessandro Falsone, Ivano Notarnicola, Giuseppe Notarstefano, Maria Prandini
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 2654-2659, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2020.12.380

Distributed Big-Data Optimization via Blockwise Gradient Tracking

Author(s): Ivano Notarnicola, Ying Sun, Gesualdo Scutari, Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, Issue 66/5, 2021, Page(s) 2045-2060, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.3008713

Randomized Constraints Consensus for Distributed Robust Mixed-Integer Programming

Author(s): Mohammadreza Chamanbaz, Giuseppe Notarstefano, Francesco Sasso, Roland Bouffanais
Published in: IEEE Transactions on Control of Network Systems, Issue 8/1, 2021, Page(s) 295-306, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2020.3024483

Distributed Submodular Minimization via Block-Wise Updates and Communications

Author(s): Andrea Testa, Francesco Farina, Giuseppe Notarstefano
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 2678-2683, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2020.12.386

Distributed Stochastic Dual Subgradient for Constraint-Coupled Optimization

Author(s): Andrea Camisa, Ivano Notarnicola, Giuseppe Notarstefano
Published in: IEEE Control Systems Letters, Issue 6, 2022, Page(s) 644-649, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2021.3084531

A Distributed Version of the Hungarian Method for Multirobot Assignment

Author(s): Smriti Chopra, Giuseppe Notarstefano, Matthew Rice, Magnus Egerstedt
Published in: IEEE Transactions on Robotics, Issue 33/4, 2017, Page(s) 932-947, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2017.2693377

Minimum-Time Trajectory Generation for Quadrotors in Constrained Environments

Author(s): Sara Spedicato, Giuseppe Notarstefano
Published in: IEEE Transactions on Control Systems Technology, 2017, Page(s) 1-10;, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TCST.2017.2709268

Distributed Partitioned Big-Data Optimization via Asynchronous Dual Decomposition

Author(s): Ivano Notarnicola, Ruggero Carli, Giuseppe Notarstefano
Published in: IEEE Transactions on Control of Network Systems, 2017, Page(s) 1-1, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/TCNS.2017.2774010

Randomized Constraints Consensus for Distributed Robust Linear Programming * *This work is supported by the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme, grant agreement No 638992 - OPT4SMART, (GN) and by a grant from the Singapore National Research Foundation (NRF) under the ASPIRE project, grant No NCR-NCR001-040 (MC&RB).

Author(s): Mohammadreza Chamanbaz, Giuseppe Notarstefano, Roland Bouffanais
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 4973-4978, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2017.08.763

A Duality-Based Approach for Distributed Optimization with Coupling Constraints

Author(s): Ivano Notarnicola, Giuseppe Notarstefano
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 14326-14331, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2017.08.1874

Multiagent Newton–Raphson Optimization Over Lossy Networks

Author(s): Nicoletta Bof, Ruggero Carli, Giuseppe Notarstefano, Luca Schenato, Damiano Varagnolo
Published in: IEEE Transactions on Automatic Control, Issue 64/7, 2019, Page(s) 2983-2990, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2018.2874748

Interaction-Based Distributed Learning in Cyber-Physical and Social Networks

Author(s): Francesco Sasso, Angelo Coluccia, Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, Issue 65/1, 2020, Page(s) 223-236, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2019.2917715

Asynchronous Distributed Optimization via Randomized Dual Proximal Gradient

Author(s): Ivano Notarnicola and Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, 2016, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TAC.2016.2607023

An optimal control approach to the design of periodic orbits for mechanical systems with impacts

Author(s): Sara Spedicato, Giuseppe Notarstefano
Published in: Nonlinear Analysis: Hybrid Systems, Issue 23, 2017, Page(s) 111-121, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/j.nahs.2016.08.009

A Bayesian Framework for Distributed Estimation of Arrival Rates in Asynchronous Networks

Author(s): Angelo Coluccia, Giuseppe Notarstefano
Published in: IEEE Transactions on Signal Processing, Issue 64/15, 2016, Page(s) 3984-3996, ISSN 1053-587X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TSP.2016.2557313

A distributed asynchronous method of multipliers for constrained nonconvex optimization

Author(s): Francesco Farina, Andrea Garulli, Antonio Giannitrapani, Giuseppe Notarstefano
Published in: Automatica, Issue 103, 2019, Page(s) 243-253, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2019.02.003

A Duality-Based Approach for Distributed Min–Max Optimization

Author(s): Ivano Notarnicola, Mauro Franceschelli, Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, Issue 64/6, 2019, Page(s) 2559-2566, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TAC.2018.2872200

Distributed Optimization for Smart Cyber-Physical Networks

Author(s): Giuseppe Notarstefano, Ivano Notarnicola, Andrea Camisa
Published in: Foundations and Trends® in Systems and Control, Issue 7/3, 2019, Page(s) 253-383, ISSN 2325-6818
Publisher: now publishers
DOI: 10.1561/2600000020

Distributed Mixed-Integer Linear Programming via Cut Generation and Constraint Exchange

Author(s): Andrea Testa, Alessandro Rucco, Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, 2019, Page(s) 1-1, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2019.2920812

Cloud-assisted Distributed Nonlinear Optimal Control for Dynamics over Graph

Author(s): Sara Spedicato, Giuseppe Notarstefano
Published in: IFAC-PapersOnLine, Issue 51/23, 2018, Page(s) 361-366, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2018.12.062

A Distributed Primal Decomposition Scheme for Nonconvex Optimization

Author(s): Andrea Camisa, Giuseppe Notarstefano
Published in: IFAC-PapersOnLine, Issue 52/20, 2019, Page(s) 315-320, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2019.12.174

Constraint-Coupled Distributed Optimization: A Relaxation and Duality Approach

Author(s): Ivano Notarnicola, Giuseppe Notarstefano
Published in: IEEE Transactions on Control of Network Systems, Issue 7/1, 2020, Page(s) 483-492, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2019.2925267

On the Linear Convergence Rate of the Distributed Block Proximal Method

Author(s): Francesco Farina, Giuseppe Notarstefano
Published in: IEEE Control Systems Letters, Issue 4/3, 2020, Page(s) 779-784, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.2976311

Distributed Primal Decomposition for Large-Scale MILPs

Author(s): Andrea Camisa, Ivano Notarnicola, Giuseppe Notarstefano
Published in: IEEE Transactions on Automatic Control, 2021, Page(s) 1-1, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2021.3057061

Enhanced Gradient Tracking Algorithms for Distributed Quadratic Optimization via Sparse Gain Design

Author(s): Guido Carnevale, Michelangelo Bin, Ivano Notarnicola, Lorenzo Marconi, Giuseppe Notarstefano
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 2696-2701, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2020.12.405

A distributed optimization algorithm for Nash bargaining in multi-agent systems

Author(s): Andrea Camisa, Philipp N. Köhler, Matthias A. Müller, Giuseppe Notarstefano, Frank Allgöwer
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 2684-2689, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2020.12.402

Distributed constraint-coupled optimization via primal decomposition over random time-varying graphs

Author(s): Andrea Camisa, Francesco Farina, Ivano Notarnicola, Giuseppe Notarstefano
Published in: Automatica, Issue 131, 2021, Page(s) 109739, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2021.109739

Generalized Assignment for Multirobot Systems via Distributed Branch-and-Price

Author(s): Andrea Testa, Giuseppe Notarstefano
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-12, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3120046

Conference proceedings (24)

Convergence rate analysis of a subgradient averaging algorithm for distributed optimisation with different constraint sets

Author(s): Licio Romao, Kostas Margellos, Giuseppe Notarstefano, Antonis Papachristodoulou
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 7448-7453, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029252

Distributed Constraint-Coupled Optimization over Random Time-Varying Graphs via Primal Decomposition and Block Subgradient Approaches

Author(s): Andrea Camisa, Francesco Farina, Ivano Notarnicola, Giuseppe Notarstefano
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 6374-6379, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029689

A Randomized Block Subgradient Approach to Distributed Big Data Optimization

Author(s): Francesco Farina, Giuseppe Notarstefano
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 6362-6367, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9030156

A finite-time cutting plane algorithm for distributed mixed integer linear programming

Author(s): Andrea Testa, Alessandro Rucco, Giuseppe Notarstefano
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 3847-3852, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8264225

Distributed big-data optimization via block-iterative convexification and averaging

Author(s): Ivano Notarnicola, Ying Sun, Gesualdo Scutari, Giuseppe Notarstefano
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2281-2288, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8263982

A randomized distributed ellipsoid algorithm for uncertain feasibility problems

Author(s): Mohammadreza Chamanbaz, Giuseppe Notarstefano, Roland Bouffanais
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 1305-1310, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8263835

Distributed big-data optimization via block communications

Author(s): Ivano Notarnicola, Ying Sun, Gesualdo Scutari, Giuseppe Notarstefano
Published in: 2017 IEEE 7th International Workshop on Computational Advances in Multi-Sensor Adaptive Processing (CAMSAP), 2017, Page(s) 1-5, ISBN 978-1-5386-1251-4
Publisher: IEEE
DOI: 10.1109/CAMSAP.2017.8313176

A randomized primal distributed algorithm for partitioned and big-data non-convex optimization

Author(s): Ivano Notarnicola, Giuseppe Notarstefano
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 153-158, ISBN 978-1-5090-1837-6
Publisher: IEEE
DOI: 10.1109/CDC.2016.7798262

From tracking to robust maneuver regulation: An easy-to-design approach for VTOL aerial robots

Author(s): Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 2965-2970, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487461

A duality-based approach for distributed min-max optimization with application to demand side management

Author(s): Ivano Notarnicola, Mauro Franceschelli, Giuseppe Notarstefano
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 1877-1882, ISBN 978-1-5090-1837-6
Publisher: IEEE
DOI: 10.1109/CDC.2016.7798538

Computing minimum-time trajectories for quadrotors via transverse coordinates

Author(s): Sara Spedicato, Giuseppe Notarstefano
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 239-244, ISBN 978-1-5090-1837-6
Publisher: IEEE
DOI: 10.1109/CDC.2016.7798276

Final-state constrained optimal control via a projection operator approach

Author(s): Ivano Notarnicola, Florian A. Bayer, Giuseppe Notarstefano, Frank Allgower
Published in: 2016 European Control Conference (ECC), 2016, Page(s) 148-153, ISBN 978-1-5090-2591-6
Publisher: IEEE
DOI: 10.1109/ECC.2016.7810278

A core-set approach for distributed quadratic programming in big-data classification

Author(s): Giuseppe Notarstefano
Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 1372-1377, ISBN 978-1-4799-7886-1
Publisher: IEEE
DOI: 10.1109/CDC.2015.7402402

Analysis of Newton-Raphson consensus for multi-agent convex optimization under asynchronous and lossy communications

Author(s): Ruggero Carli, Giuseppe Notarstefano, Luca Schenato, Damiano Varagnolo
Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 418-424, ISBN 978-1-4799-7886-1
Publisher: IEEE
DOI: 10.1109/CDC.2015.7402236

Randomized dual proximal gradient for large-scale distributed optimization

Author(s): Ivano Notarnicola, Giuseppe Notarstefano
Published in: 2015 54th IEEE Conference on Decision and Control (CDC), 2015, Page(s) 712-717, ISBN 978-1-4799-7886-1
Publisher: IEEE
DOI: 10.1109/CDC.2015.7402313

Asynchronous Distributed Method of Multipliers for Constrained Nonconvex optimization

Author(s): Francesco Farina, Andrea Garulli, Antonio Giannitrapani, Giuseppe Notarstefano
Published in: 2018 European Control Conference (ECC), 2018, Page(s) 2535-2540, ISBN 978-3-9524-2698-2
Publisher: IEEE
DOI: 10.23919/ecc.2018.8550098

Distributed Learning from Interactions in Social Networks

Author(s): Francesco Sasso, Angelo Coluccia, Giuseppe Notarstefano
Published in: 2018 European Control Conference (ECC), 2018, Page(s) 2200-2205, ISBN 978-3-9524-2698-2
Publisher: IEEE
DOI: 10.23919/ecc.2018.8550320

A Primal Decomposition Method with Suboptimality Bounds for Distributed Mixed-Integer Linear Programming

Author(s): Andrea Camisa, Ivano Notarnicola, Giuseppe Notarstefano
Published in: 2018 IEEE Conference on Decision and Control (CDC), 2018, Page(s) 3391-3396, ISBN 978-1-5386-1395-5
Publisher: IEEE
DOI: 10.1109/CDC.2018.8619597

Distributed Submodular Minimization Over Networks: A Greedy Column Generation Approach

Author(s): Andrea Testa, Ivano Notarnicola, Giuseppe Notarstefano
Published in: 2018 IEEE Conference on Decision and Control (CDC), 2018, Page(s) 4945-4950, ISBN 978-1-5386-1395-5
Publisher: IEEE
DOI: 10.1109/CDC.2018.8618958

Primal Decomposition and Constraint Generation for Asynchronous Distributed Mixed-Integer Linear Programming

Author(s): Andrea Camisa, Giuseppe Notarstefano
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 77-82, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ECC.2019.8796116

An Empirical Bayes Approach for Distributed Estimation of Spatial Fields

Author(s): Francesco Sasso, Angelo Coluccia, Giuseppe Notarstefano
Published in: 2018 European Control Conference (ECC), 2018, Page(s) 2206-2211, ISBN 978-3-9524-2698-2
Publisher: IEEE
DOI: 10.23919/ecc.2018.8550231

A Sparse Polytopic LPV Controller for Fully-Distributed Nonlinear Optimal Control

Author(s): Sarnavi Mahesh, Sara Spedicato, Giuseppe Notarstefano
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 554-559, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ecc.2019.8795807

A System Theoretical Perspective to Gradient-Tracking Algorithms for Distributed Quadratic Optimization

Author(s): Michelangelo Bin, Ivano Notarnicola, Lorenzo Marconi, Giuseppe Notarstefano
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 2994-2999, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029824

Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields

Author(s): Alessia Benevento, Maria Santos, Giuseppe Notarstefano, Kamran Paynabar, Matthieu Bloch, Magnus Egerstedt
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 7740-7746, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9197487