├── .gitignore ├── LICENSE ├── README.md ├── SOVA_ADMM_mpc_trj_data.npz ├── distributed_ADMM ├── .gitignore ├── MPC_casadi_demo.ipynb ├── logs │ ├── ADMM_mpc_3_to_7_agents.xlsm │ ├── ADMM_mpc_3_to_8_agents.xlsm │ ├── ADMM_mpc_max_Iters_1_to_10.xlsm │ ├── ICRA2024_Monte_Carlo.xlsm │ ├── ICRA2024_Monte_Carlo.xlsm:Zone.Identifier │ ├── dpilqr_3_to_8.xlsm │ ├── ilqr_vs_centralized.xlsm │ ├── optimality_gap_60Iters.csv:Zone.Identifier │ ├── optimality_gap_60Trials.xlsm │ ├── optimality_gap_admm.xlsm │ └── ~$ilqr_vs_centralized.xlsm ├── main.py ├── monte_carlo_analysis.ipynb ├── paper_results │ ├── ADMM_IPOPT_trial.png │ ├── ADMM_mpc.png │ ├── ADMM_std_computation_time.png │ ├── ADMM_vs_DPILQR.png │ ├── ADMM_vs_ilqr.png │ ├── SOVA_ADMM_mpc.png │ ├── SOVA_admm_optimality_gap.png │ ├── avg_computation_times_comparison.png │ ├── convergence_rate.png │ ├── convergence_rate_QP.png │ ├── optimality_gaps.png │ ├── pairwise_distances(ADMM).png │ ├── pairwise_distances(ADMM_QP).png │ ├── pairwise_distances(SOVA_mpc).png │ ├── pairwise_distances(vanilla_mpc).png │ ├── pairwise_distances(vanilla_mpc_QP).png │ ├── potential_admm_optimality_gap.png │ └── std_computation_times_comparison.png ├── plot_trj.ipynb ├── trials(scratch book) │ ├── Pairwise_distance_QP.png │ ├── QP_pairwise_distance.png │ ├── SCP_pairwise_distance.png │ ├── SCP_random_init.png │ ├── dynamics.py │ ├── main_Convex.py │ ├── mpc_QP(cvxpy).ipynb │ ├── scp_ADMM.ipynb │ └── scratch.ipynb └── util.py ├── regular_ADMM_mpc_trj_data.npz └── requirements.txt /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/labicon/Potential-ADMM_code/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/labicon/Potential-ADMM_code/HEAD/LICENSE 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