# A message-passing algorithm for multi-agent trajectory planning

arXiv: https://arxiv.org/abs/1311.4527 · HTML: https://mlsanity.com/paper/1311.4527/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Nov 2013.

## Built on by (most cited first, 1 of 1)

- [Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization](https://mlsanity.com/paper/2510.09204/) (2025)

## Abstract (arXiv)

We describe a novel approach for computing collision-free global trajectories for p agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM). Compared with existing methods, our approach is naturally parallelizable and allows for incorporating different cost functionals with only minor adjustments. We apply our method to classical challenging instances and observe that its computational requirements scale well with p for several cost functionals. We also show that a specialization of our algorithm can be used for em local motion planning by solving the problem of joint optimization in velocity space.