{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T16:00:24Z","timestamp":1781107224146,"version":"3.54.1"},"reference-count":82,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"ARO","award":["#W911NF2010151"],"award-info":[{"award-number":["#W911NF2010151"]}]},{"name":"Georgia COVID relief fund"},{"name":"A. Onassis Foundation Scholarship"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,12]]},"DOI":"10.1109\/tro.2023.3319894","type":"journal-article","created":{"date-parts":[[2023,10,19]],"date-time":"2023-10-19T18:32:48Z","timestamp":1697740368000},"page":"4387-4407","source":"Crossref","is-referenced-by-count":29,"title":["Distributed Differential Dynamic Programming Architectures for Large-Scale Multiagent Control"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4063-9963","authenticated-orcid":false,"given":"Augustinos D.","family":"Saravanos","sequence":"first","affiliation":[{"name":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5676-3769","authenticated-orcid":false,"given":"Yuichiro","family":"Aoyama","sequence":"additional","affiliation":[{"name":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9540-8137","authenticated-orcid":false,"given":"Hongchang","family":"Zhu","sequence":"additional","affiliation":[{"name":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0834-5738","authenticated-orcid":false,"given":"Evangelos A.","family":"Theodorou","sequence":"additional","affiliation":[{"name":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3123479"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.109333"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3110660"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3088764"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2011.5991156"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-008-0016-2"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2021.3097306"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2023.3302288"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3028267"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-01094-1_32"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/BF02071065"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095022"},{"key":"ref13","first-page":"668","article-title":"Complete algorithms for cooperative pathfinding problems","volume-title":"Proc. Int. Joint Conf. Artif. Intell.","author":"Standley","year":"2011"},{"key":"ref14","first-page":"1263","article-title":"Multi-agent RRT*: Sampling-based cooperative pathfinding","volume-title":"Proc. Int. Conf. Auton. Agents Multi-Agent Syst.","author":"p","year":"2013"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-27645-3_14"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717432"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.876939"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912469671"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989037"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795736"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004724"},{"issue":"24","key":"ref23","volume-title":"Differential Dynamic Programming","author":"Jacobson","year":"1970"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1248926"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487156"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2018.8624925"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.2514\/6.2022-0624"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1469949"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/9.86943"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/0096-3003(84)90051-1"},{"key":"ref31","article-title":"Advantages of differential dynamic programming over Newtons method for discrete-time optimal control problems","author":"Liao","year":"1992"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1029\/WR015i005p01017"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907001"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989086"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2021.3049416"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981586"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967788"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561530"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3143301"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3142744"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.084"},{"key":"ref42","article-title":"Multimodal maximum entropy dynamic games","author":"So","year":"2022"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9304498"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.075"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2022.XVIII.055"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2018.8550245"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147590"},{"key":"ref49","article-title":"A survey of distributed optimization methods for multi-robot systems","author":"Halsted","year":"2021"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340957"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/MRS50823.2021.9620665"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/s11081-020-09585-w"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3094215"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/IECON48115.2021.9589675"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2952235"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2019.2949973"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1126\/science.153.3731.34"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1137\/100781894"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814732"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1137\/120896219"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1137\/0314056"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1023\/A:1004603514434"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v30i1.10069"},{"key":"ref64","first-page":"3841","article-title":"Adaptive consensus ADMM for distributed optimization","volume-title":"Proc. 34th Int. Conf. Mach. Learn.,","author":"Xu","year":"2017"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/s10589-022-00433-4"},{"key":"ref66","article-title":"Improved hierarchical ADMM for nonconvex cooperative distributed model predictive control","author":"Zhang","year":"2020"},{"key":"ref67","volume-title":"Augmented Lagrangian Methods: Applications to the Numerical Solution of Boundary-Value Problems","author":"Fortin","year":"2000"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970838"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1080\/02331934.2014.895901"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2015.2399192"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/TPWRS.2014.2306495"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1080\/10556788.2012.700713"},{"key":"ref73","article-title":"An empirical study of ADMM for nonconvex problems","author":"Xu","year":"2016"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385823"},{"issue":"22","key":"ref75","article-title":"Modelling and control of quadcopter","volume":"22","author":"Luukkonen","year":"2011","journal-title":"Independent Res. Project Appl. Math., Espoo"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2017.2764499"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1137\/17M116272X"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/CDC45484.2021.9683370"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.2514\/1.G003516"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812228"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2022.XVIII.046"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1007\/s10589-005-1066-7"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10352149\/10288223.pdf?arnumber=10288223","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,19]],"date-time":"2023-12-19T23:47:09Z","timestamp":1703029629000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10288223\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12]]},"references-count":82,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3319894","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12]]}}}