Before revision:  Next, the approximate optimization with a barrier method is then applied to accelerate the computational efficiency . Finally, a multi-agent system involving decision-making for multiple unmanned aerial vehicles (UAVs) is utilized to demonstrate the effectiveness of the proposed method in terms of attained performance and computational efficiency  .
After revision:  Next, the approximate optimization with a barrier method is then applied to accelerate the computational efficiency , yielding the final improved hierarchical ADMM. The effectiveness of the proposed method in terms of attained performance and computational efficiency .