{"id":"https://openalex.org/W4387789865","doi":"https://doi.org/10.1109/tro.2023.3319894","title":"Distributed Differential Dynamic Programming Architectures for Large-Scale Multiagent Control","display_name":"Distributed Differential Dynamic Programming Architectures for Large-Scale Multiagent Control","publication_year":2023,"publication_date":"2023-10-19","ids":{"openalex":"https://openalex.org/W4387789865","doi":"https://doi.org/10.1109/tro.2023.3319894"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3319894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3319894","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085580508","display_name":"Augustinos D. Saravanos","orcid":"https://orcid.org/0000-0002-4063-9963"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Augustinos D. Saravanos","raw_affiliation_strings":["Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4063-9963","affiliations":[{"raw_affiliation_string":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074025783","display_name":"Yuichiro Aoyama","orcid":"https://orcid.org/0000-0001-5676-3769"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuichiro Aoyama","raw_affiliation_strings":["Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5676-3769","affiliations":[{"raw_affiliation_string":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011425671","display_name":"Hongchang Zhu","orcid":"https://orcid.org/0000-0001-9540-8137"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongchang Zhu","raw_affiliation_strings":["Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9540-8137","affiliations":[{"raw_affiliation_string":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044505993","display_name":"Evangelos A. Theodorou","orcid":"https://orcid.org/0000-0002-0834-5738"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos A. Theodorou","raw_affiliation_strings":["Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0834-5738","affiliations":[{"raw_affiliation_string":"Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.0296,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.96256578,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"39","issue":"6","first_page":"4387","last_page":"4407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.786597490310669},{"id":"https://openalex.org/keywords/parallelizable-manifold","display_name":"Parallelizable manifold","score":0.7865280508995056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7241555452346802},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6004709601402283},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4827677309513092},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4767404794692993},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4533606469631195},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4391840100288391},{"id":"https://openalex.org/keywords/distributed-algorithm","display_name":"Distributed algorithm","score":0.4339252710342407},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4245566725730896},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3883815109729767},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3365152180194855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21900278329849243},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19730877876281738},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16985735297203064},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11856037378311157}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.786597490310669},{"id":"https://openalex.org/C148047603","wikidata":"https://www.wikidata.org/wiki/Q1014612","display_name":"Parallelizable manifold","level":2,"score":0.7865280508995056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7241555452346802},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6004709601402283},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4827677309513092},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4767404794692993},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4533606469631195},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4391840100288391},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.4339252710342407},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4245566725730896},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3883815109729767},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3365152180194855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21900278329849243},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19730877876281738},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16985735297203064},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11856037378311157},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3319894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3319894","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":87,"referenced_works":["https://openalex.org/W103885025","https://openalex.org/W845484681","https://openalex.org/W1524324710","https://openalex.org/W1562101002","https://openalex.org/W1566070776","https://openalex.org/W1964946446","https://openalex.org/W1971086298","https://openalex.org/W1982203621","https://openalex.org/W2001981441","https://openalex.org/W2025752438","https://openalex.org/W2029015512","https://openalex.org/W2038497950","https://openalex.org/W2062731992","https://openalex.org/W2063596703","https://openalex.org/W2068548513","https://openalex.org/W2076261573","https://openalex.org/W2083138589","https://openalex.org/W2088590012","https://openalex.org/W2095695857","https://openalex.org/W2097866335","https://openalex.org/W2108631580","https://openalex.org/W2124015815","https://openalex.org/W2126147262","https://openalex.org/W2127683394","https://openalex.org/W2144827113","https://openalex.org/W2147844268","https://openalex.org/W2153917213","https://openalex.org/W2167856595","https://openalex.org/W2217407546","https://openalex.org/W2292985786","https://openalex.org/W2313629133","https://openalex.org/W2416041116","https://openalex.org/W2559190048","https://openalex.org/W2561734958","https://openalex.org/W2737829489","https://openalex.org/W2793020180","https://openalex.org/W2898868201","https://openalex.org/W2898917953","https://openalex.org/W2902909548","https://openalex.org/W2954172414","https://openalex.org/W2962964418","https://openalex.org/W2963809389","https://openalex.org/W2972447122","https://openalex.org/W2987535681","https://openalex.org/W3003535010","https://openalex.org/W3004162504","https://openalex.org/W3045572281","https://openalex.org/W3098680447","https://openalex.org/W3102704006","https://openalex.org/W3104608980","https://openalex.org/W3118235502","https://openalex.org/W3118505676","https://openalex.org/W3123819824","https://openalex.org/W3132944213","https://openalex.org/W3153914979","https://openalex.org/W3172463270","https://openalex.org/W3173989948","https://openalex.org/W3175899508","https://openalex.org/W3181923028","https://openalex.org/W3193478200","https://openalex.org/W3193662247","https://openalex.org/W3197222118","https://openalex.org/W3200168216","https://openalex.org/W3200482794","https://openalex.org/W3205884071","https://openalex.org/W3207783658","https://openalex.org/W3211516192","https://openalex.org/W3213549612","https://openalex.org/W4200235480","https://openalex.org/W4205517731","https://openalex.org/W4221144238","https://openalex.org/W4226334619","https://openalex.org/W4237591687","https://openalex.org/W4283787395","https://openalex.org/W4283788753","https://openalex.org/W4287257387","https://openalex.org/W4292363360","https://openalex.org/W4301283118","https://openalex.org/W4309878947","https://openalex.org/W4386174865","https://openalex.org/W6633623183","https://openalex.org/W6712589207","https://openalex.org/W6730253028","https://openalex.org/W6739509772","https://openalex.org/W6791840850","https://openalex.org/W6800458512","https://openalex.org/W6810756247"],"related_works":["https://openalex.org/W4285069850","https://openalex.org/W2891970004","https://openalex.org/W1996916724","https://openalex.org/W4240963716","https://openalex.org/W1974634278","https://openalex.org/W1596637634","https://openalex.org/W2321918740","https://openalex.org/W2154273227","https://openalex.org/W1776186222","https://openalex.org/W1969557545"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"two":[3],"decentralized":[4],"multiagent":[5],"optimal":[6],"control":[7],"methods":[8,136],"that":[9,71,107],"combine":[10],"the":[11,22,26,58,97,119,122,148,151,161],"computational":[12,82],"efficiency":[13],"and":[14,21,55,75,99,114,132],"scalability":[15,125],"of":[16,25,30,112,116,121,150],"differential":[17],"dynamic":[18],"programming":[19,135],"(DDP)":[20],"distributed":[23,37,65],"nature":[24],"alternating":[27],"direction":[28],"method":[29],"multipliers":[31],"(ADMM).":[32],"The":[33,61],"first":[34],"one,":[35,63],"nested":[36],"DDP,":[38,66],"is":[39,67,103,137,158],"a":[40,68,144],"three-level":[41],"architecture,":[42],"which":[43],"employs":[44],"ADMM":[45],"for":[46,52],"consensus,":[47],"an":[48],"augmented":[49],"Lagrangian":[50],"layer":[51],"local":[53,59,76,101],"constraints":[54,77],"DDP":[56,131],"as":[57],"optimizer.":[60],"second":[62],"merged":[64],"two-level":[69],"architecture":[70],"addresses":[72],"both":[73],"consensus":[74],"with":[78,155],"ADMM,":[79],"further":[80],"reducing":[81],"complexity.":[83],"Both":[84],"frameworks":[85],"are":[86,94],"<italic":[87],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[88],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">fully":[89],"decentralized</i>":[90],"since":[91],"all":[92,156],"computations":[93],"parallelizable":[95],"among":[96],"agents":[98],"only":[100],"communication":[102],"necessary.":[104],"Simulation":[105],"results":[106,157],"scale":[108],"up":[109],"to":[110,126],"thousands":[111],"cars":[113],"hundreds":[115],"drones":[117],"demonstrate":[118],"effectiveness":[120],"algorithms.":[123],"Superior":[124],"large-scale":[127],"systems":[128],"against":[129],"other":[130],"sequential":[133],"quadratic":[134],"also":[138],"illustrated.":[139],"Finally,":[140],"hardware":[141],"experiments":[142],"on":[143],"multirobot":[145],"platform":[146],"verify":[147],"applicability":[149],"methods.":[152],"A":[153],"video":[154],"provided":[159],"in":[160],"supplementary":[162],"material.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
