Author

Lei Xu

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Preprint Sep 2026

Certificate-Carrying Distributed Model Predictive Control on Product Manifolds with $\mathrm{SO}(3)$

This paper studies constraint certification in synchronous distributed model predictive control (DMPC) when neighboring predictions change between sampling instants. Before the parallel local solves, each agent communicates a shifted prediction and an announced update budget. A hard trajectory trust region makes that b...

Sheng-Jun Zhang, Ting Liu, Lei Xu et al. · 0 citations

Preprint Sep 2026

Distributed risk-averse optimization via CVaR

A zeroth-order algorithm is developed that uses sampled losses to construct empirical CVaR estimates and their gradient estimates and establishes a finite-time expected suboptimality bound for the weighted ergodic iterate.

Si-Yi Wang, Kun Huang, Lei Xu et al. · 0 citations