Before revision:  Noting all these attendant constraints and limitations , the development and innovation of a hierarchical three-block alternating direction method of multipliers (ADMM) approach is presented in the work here to solve the nonconvex optimization problem that arises for such a decision-making problem in multi-agent systems.
After revision:  Noting all these attendant constraints and limitations , the development and innovation of a hierarchical three-block alternating direction method of multipliers (ADMM) approach is presented in this work to solve this nonconvex cooperative DMPC problem in multi-agent systems.