Author

Wei Ren

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Preprint Sep 2026

Distributed Continuous-Time Optimization on the Special Orthogonal Group SO(3) over Tree Interaction Graphs

We study continuous-time distributed optimization on the three-dimensional rotation group over undirected tree graphs, where agents with heterogeneous local costs seek a common attitude minimizing the geodesically strongly convex sum of their costs on a geodesically convex operating ball. We propose a nonsmooth protoco...

Dong-Ming Wang, Wei Ren · 0 citations

Preprint Aug 2026

Geodesic strong convexity does not imply forward invariance under gradient flow on SO(3): a certified counterexample

Let $mathcal{C}=\overline{\mathcal{B}}_{\rho}(R_c)$ be a geodesic ball of radius $\rho<\pi/2$ in SO(3) with the bi-invariant metric, and let $f$ be geodesically strongly convex on $\mathcal{C}$ with an interior minimizer. It is tempting to expect the gradient flow $\dot R=R(-\nabla f)^\wedge$ to keep $\mathcal{C}$ forw...

Dong-Ming Wang, Wei Ren · 1 citation