  This work presents a distributed MPC-based approach to solving the problem of
multi-agent point-to-point transition with optimization-based collision
avoidance. The problem is formulated, motivated by the work on collision
avoidance for multi-agent systems and dynamic obstacles. With modifications to
the formulation, the problem is converted into a distributed problem with a
separable objective and coupled constraints. The problem is divided into local
sub-problems and solved using Alternating Directions Method of
Multipliers(ADMM) applied on an augmented local lagrangian objective.This work
aims to understand the multi-agent point-to-point transition problem as an
extension of optimization-based collision avoidance and analyze the aspects of
computational times, reliability, and optimality of the solution obtained.
