I am using the IPOPT solver to solve a multi-agent MPC problem. I notice that once I add quadratic collision avoidance cost - 100 * (||xi - xj||-radius)**2, where radius is a positive constant that defines my threshold distance. But after a long time the solver is stuck in a local infeasibility. I have isolated the infeasibility issue to this non-convex term because once I remove it, the solver returns an optimal solution very quickly. I wonder how I should tackle this issue? Is this type of non-convex cost simply not supported??
Below is a snippet of the verbose message returned by IPOPT:
******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
Ipopt is released as open source code under the Eclipse Public License (EPL).
For more information visit https://github.com/coin-or/Ipopt
******************************************************************************
1 2.0286094e+04 1.39e+00 2.24e+01 -1.0 6.71e+00 - 3.09e-01 4.43e-01f 1This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.
1 2.0286094e+04 1.39e+00 2.24e+01 -1.0 6.71e+00 - 3.09e-01 4.43e-01f 1
Number of nonzeros in equality constraint Jacobian...: 10098
Number of nonzeros in inequality constraint Jacobian.: 360
Number of nonzeros in Lagrangian Hessian.............: 1278
2 -2.9749413e+01 4.44e-16 1.97e+00 -1.0 1.58e+00 - 6.79e-01 1.00e+00f 1 2 -2.9749413e+01 4.44e-16 1.97e+00 -1.0 1.58e+00 - 6.79e-01 1.00e+00f 1
Total number of variables............................: 558
3 -2.9765454e+03 4.44e-16 6.44e+00 -1.0 3.84e+00 - 4.81e-01 5.27e-01f 1 3 -2.9765454e+03 4.44e-16 6.44e+00 -1.0 3.84e+00 - 4.81e-01 5.27e-01f 1 variables with only lower bounds: 0
variables with lower and upper bounds: 0
variables with only upper bounds: 0
Total number of equality constraints.................: 378
Total number of inequality constraints...............: 360
inequality constraints with only lower bounds: 180
inequality constraints with lower and upper bounds: 0
inequality constraints with only upper bounds: 180
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
4 -3.1661760e+03 8.88e-16 1.72e-01 -1.0 1.72e-01 0.0 1.00e+00 1.00e+00f 1 0 5.4225816e+04 2.50e+00 4.45e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 4 -3.1661760e+03 8.88e-16 1.72e-01 -1.0 1.72e-01 0.0 1.00e+00 1.00e+00f 1
5 -3.9198387e+03 4.44e-16 3.36e-01 -2.5 4.57e-01 -0.5 9.39e-01 9.81e-01f 1 1 2.0286094e+04 1.39e+00 2.24e+01 -1.0 6.71e+00 - 3.09e-01 4.43e-01f 1
5 -3.9198387e+03 4.44e-16 3.36e-01 -2.5 4.57e-01 -0.5 9.39e-01 9.81e-01f 1 2 -2.9749413e+01 4.44e-16 1.97e+00 -1.0 1.58e+00 - 6.79e-01 1.00e+00f 1
6 -4.9801952e+03 6.66e-16 3.81e-01 -2.5 2.65e+00 -1.0 9.15e-01 3.88e-01f 1 3 -2.9765454e+03 4.44e-16 6.44e+00 -1.0 3.84e+00 - 4.81e-01 5.27e-01f 1
6 -4.9801952e+03 6.66e-16 3.81e-01 -2.5 2.65e+00 -1.0 9.15e-01 3.88e-01f 1
7 -5.3220466e+03 4.44e-16 2.87e-01 -2.5 9.99e-01 -0.5 1.00e+00 3.19e-01f 1
7 -5.3220466e+03 4.44e-16 2.87e-01 -2.5 9.99e-01 -0.5 1.00e+00 3.19e-01f 1 4 -3.1661760e+03 8.88e-16 1.72e-01 -1.0 1.72e-01 0.0 1.00e+00 1.00e+00f 1
8 -5.6214071e+03 8.88e-16 7.98e-01 -2.5 1.18e+01 -1.0 4.64e-01 2.45e-02f 1 8 -5.6214071e+03 8.88e-16 7.98e-01 -2.5 1.18e+01 -1.0 4.64e-01 2.45e-02f 1 5 -3.9198387e+03 4.44e-16 3.36e-01 -2.5 4.57e-01 -0.5 9.39e-01 9.81e-01f 1
6 -4.9801952e+03 6.66e-16 3.81e-01 -2.5 2.65e+00 -1.0 9.15e-01 3.88e-01f 1 9 -6.1364327e+03 4.44e-16 7.32e-01 -2.5 1.13e+00 -0.6 1.00e+00 3.73e-01f 1
9 -6.1364327e+03 4.44e-16 7.32e-01 -2.5 1.13e+00 -0.6 1.00e+00 3.73e-01f 1iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
10 -6.5974272e+03 6.66e-16 2.61e+00 -2.5 8.11e+00 -1.1 6.30e-01 5.25e-02f 1
7 -5.3220466e+03 4.44e-16 2.87e-01 -2.5 9.99e-01 -0.5 1.00e+00 3.19e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
8 -5.6214071e+03 8.88e-16 7.98e-01 -2.5 1.18e+01 -1.0 4.64e-01 2.45e-02f 1
10 -6.5974272e+03 6.66e-16 2.61e+00 -2.5 8.11e+00 -1.1 6.30e-01 5.25e-02f 1 11 -7.1050386e+03 4.44e-16 8.68e-01 -2.5 1.30e+00 -0.6 1.00e+00 3.17e-01f 1
11 -7.1050386e+03 4.44e-16 8.68e-01 -2.5 1.30e+00 -0.6 1.00e+00 3.17e-01f 1 9 -6.1364327e+03 4.44e-16 7.32e-01 -2.5 1.13e+00 -0.6 1.00e+00 3.73e-01f 1 12 -7.7308218e+03 8.88e-16 2.39e+00 -2.5 6.70e+00 -1.1 7.78e-01 9.61e-02f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
12 -7.7308218e+03 8.88e-16 2.39e+00 -2.5 6.70e+00 -1.1 7.78e-01 9.61e-02f 1 10 -6.5974272e+03 6.66e-16 2.61e+00 -2.5 8.11e+00 -1.1 6.30e-01 5.25e-02f 1
13 -8.3857683e+03 4.44e-16 6.40e-01 -2.5 1.38e+00 -0.7 1.00e+00 4.61e-01f 1
11 -7.1050386e+03 4.44e-16 8.68e-01 -2.5 1.30e+00 -0.6 1.00e+00 3.17e-01f 1 13 -8.3857683e+03 4.44e-16 6.40e-01 -2.5 1.38e+00 -0.7 1.00e+00 4.61e-01f 1
14 -8.6583553e+03 8.88e-16 2.35e-01 -2.5 4.55e-01 -0.3 1.00e+00 5.39e-01f 1
12 -7.7308218e+03 8.88e-16 2.39e+00 -2.5 6.70e+00 -1.1 7.78e-01 9.61e-02f 1
15 -8.8565001e+03 4.44e-16 6.99e-01 -2.5 1.22e+00 -0.7 1.00e+00 1.70e-01f 1
14 -8.6583553e+03 8.88e-16 2.35e-01 -2.5 4.55e-01 -0.3 1.00e+00 5.39e-01f 1
13 -8.3857683e+03 4.44e-16 6.40e-01 -2.5 1.38e+00 -0.7 1.00e+00 4.61e-01f 1
16 -9.0512437e+03 8.88e-16 2.78e-01 -2.5 4.02e-01 -0.3 1.00e+00 4.79e-01f 1
15 -8.8565001e+03 4.44e-16 6.99e-01 -2.5 1.22e+00 -0.7 1.00e+00 1.70e-01f 1
14 -8.6583553e+03 8.88e-16 2.35e-01 -2.5 4.55e-01 -0.3 1.00e+00 5.39e-01f 1
17 -9.3150057e+03 8.88e-16 4.40e-01 -2.5 1.26e+00 -0.8 1.00e+00 2.24e-01f 1 16 -9.0512437e+03 8.88e-16 2.78e-01 -2.5 4.02e-01 -0.3 1.00e+00 4.79e-01f 1
17 -9.3150057e+03 8.88e-16 4.40e-01 -2.5 1.26e+00 -0.8 1.00e+00 2.24e-01f 1 15 -8.8565001e+03 4.44e-16 6.99e-01 -2.5 1.22e+00 -0.7 1.00e+00 1.70e-01f 1
18 -9.4113959e+03 4.44e-16 3.64e-01 -2.5 4.39e-01 -0.4 1.00e+00 2.50e-01f 1
19 -9.7311671e+03 4.44e-16 3.24e-01 -2.5 1.29e+00 -0.8 1.00e+00 2.89e-01f 1 16 -9.0512437e+03 8.88e-16 2.78e-01 -2.5 4.02e-01 -0.3 1.00e+00 4.79e-01f 1
18 -9.4113959e+03 4.44e-16 3.64e-01 -2.5 4.39e-01 -0.4 1.00e+00 2.50e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
20 -9.7928735e+03 8.88e-16 2.30e-01 -2.5 3.96e-01 -0.4 1.00e+00 1.67e-01f 1 17 -9.3150057e+03 8.88e-16 4.40e-01 -2.5 1.26e+00 -0.8 1.00e+00 2.24e-01f 1
19 -9.7311671e+03 4.44e-16 3.24e-01 -2.5 1.29e+00 -0.8 1.00e+00 2.89e-01f 1
21 -9.9900167e+03 4.44e-16 3.77e-01 -2.5 1.01e+00 -0.9 1.00e+00 2.16e-01f 1
18 -9.4113959e+03 4.44e-16 3.64e-01 -2.5 4.39e-01 -0.4 1.00e+00 2.50e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
20 -9.7928735e+03 8.88e-16 2.30e-01 -2.5 3.96e-01 -0.4 1.00e+00 1.67e-01f 1
22 -1.0166560e+04 4.44e-16 1.52e-01 -2.5 4.09e-01 -0.5 1.00e+00 6.07e-01f 1 19 -9.7311671e+03 4.44e-16 3.24e-01 -2.5 1.29e+00 -0.8 1.00e+00 2.89e-01f 1
21 -9.9900167e+03 4.44e-16 3.77e-01 -2.5 1.01e+00 -0.9 1.00e+00 2.16e-01f 1
23 -1.0315450e+04 8.88e-16 2.07e-01 -2.5 1.05e+00 -0.9 1.00e+00 2.22e-01f 1iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
20 -9.7928735e+03 8.88e-16 2.30e-01 -2.5 3.96e-01 -0.4 1.00e+00 1.67e-01f 1
22 -1.0166560e+04 4.44e-16 1.52e-01 -2.5 4.09e-01 -0.5 1.00e+00 6.07e-01f 1
24 -1.0429169e+04 8.88e-16 1.20e-01 -2.5 3.62e-01 -0.5 1.00e+00 5.15e-01f 1 21 -9.9900167e+03 4.44e-16 3.77e-01 -2.5 1.01e+00 -0.9 1.00e+00 2.16e-01f 1
23 -1.0315450e+04 8.88e-16 2.07e-01 -2.5 1.05e+00 -0.9 1.00e+00 2.22e-01f 1
25 -1.0520658e+04 4.44e-16 1.48e-01 -2.5 9.03e-01 -1.0 1.00e+00 1.84e-01f 1 22 -1.0166560e+04 4.44e-16 1.52e-01 -2.5 4.09e-01 -0.5 1.00e+00 6.07e-01f 1
24 -1.0429169e+04 8.88e-16 1.20e-01 -2.5 3.62e-01 -0.5 1.00e+00 5.15e-01f 1
23 -1.0315450e+04 8.88e-16 2.07e-01 -2.5 1.05e+00 -0.9 1.00e+00 2.22e-01f 1 26 -1.0681889e+04 4.44e-16 9.45e-02 -2.5 3.45e-01 -0.6 1.00e+00 1.00e+00f 1
25 -1.0520658e+04 4.44e-16 1.48e-01 -2.5 9.03e-01 -1.0 1.00e+00 1.84e-01f 1 27 -1.0740553e+04 4.44e-16 1.88e-01 -2.5 9.02e-01 -1.0 1.00e+00 1.65e-01f 1 24 -1.0429169e+04 8.88e-16 1.20e-01 -2.5 3.62e-01 -0.5 1.00e+00 5.15e-01f 1
25 -1.0520658e+04 4.44e-16 1.48e-01 -2.5 9.03e-01 -1.0 1.00e+00 1.84e-01f 1 26 -1.0681889e+04 4.44e-16 9.45e-02 -2.5 3.45e-01 -0.6 1.00e+00 1.00e+00f 1
28 -1.0805513e+04 4.44e-16 8.25e-02 -2.5 3.17e-01 -0.6 1.00e+00 5.52e-01f 1
26 -1.0681889e+04 4.44e-16 9.45e-02 -2.5 3.45e-01 -0.6 1.00e+00 1.00e+00f 1 27 -1.0740553e+04 4.44e-16 1.88e-01 -2.5 9.02e-01 -1.0 1.00e+00 1.65e-01f 1
29 -1.0917673e+04 4.44e-16 2.40e-01 -2.5 1.31e+00 -1.1 1.00e+00 3.17e-01f 1
27 -1.0740553e+04 4.44e-16 1.88e-01 -2.5 9.02e-01 -1.0 1.00e+00 1.65e-01f 1
28 -1.0805513e+04 4.44e-16 8.25e-02 -2.5 3.17e-01 -0.6 1.00e+00 5.52e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
30 -1.0979921e+04 4.44e-16 9.09e-02 -2.5 4.10e-01 -0.7 1.00e+00 5.47e-01f 1
28 -1.0805513e+04 4.44e-16 8.25e-02 -2.5 3.17e-01 -0.6 1.00e+00 5.52e-01f 1 29 -1.0917673e+04 4.44e-16 2.40e-01 -2.5 1.31e+00 -1.1 1.00e+00 3.17e-01f 1
31 -1.1013635e+04 4.44e-16 8.67e-02 -2.5 1.51e-01 -0.2 1.00e+00 8.47e-01f 1
29 -1.0917673e+04 4.44e-16 2.40e-01 -2.5 1.31e+00 -1.1 1.00e+00 3.17e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
32 -1.1155013e+04 8.88e-16 1.04e-01 -2.5 5.42e-01 -0.7 1.00e+00 1.00e+00f 1
30 -1.0979921e+04 4.44e-16 9.09e-02 -2.5 4.10e-01 -0.7 1.00e+00 5.47e-01f 1iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
30 -1.0979921e+04 4.44e-16 9.09e-02 -2.5 4.10e-01 -0.7 1.00e+00 5.47e-01f 1 33 -1.1195171e+04 8.88e-16 1.05e-01 -2.5 2.05e-01 -0.3 1.00e+00 6.82e-01f 1
31 -1.1013635e+04 4.44e-16 8.67e-02 -2.5 1.51e-01 -0.2 1.00e+00 8.47e-01f 1
31 -1.1013635e+04 4.44e-16 8.67e-02 -2.5 1.51e-01 -0.2 1.00e+00 8.47e-01f 1
32 -1.1155013e+04 8.88e-16 1.04e-01 -2.5 5.42e-01 -0.7 1.00e+00 1.00e+00f 1
32 -1.1155013e+04 8.88e-16 1.04e-01 -2.5 5.42e-01 -0.7 1.00e+00 1.00e+00f 1
33 -1.1195171e+04 8.88e-16 1.05e-01 -2.5 2.05e-01 -0.3 1.00e+00 6.82e-01f 1
33 -1.1195171e+04 8.88e-16 1.05e-01 -2.5 2.05e-01 -0.3 1.00e+00 6.82e-01f 1
34 -1.1305674e+04 8.88e-16 1.31e-01 -2.5 6.80e-01 -0.8 1.00e+00 6.98e-01f 1
34 -1.1305674e+04 8.88e-16 1.31e-01 -2.5 6.80e-01 -0.8 1.00e+00 6.98e-01f 1
35 -1.1357983e+04 4.44e-16 1.09e-01 -2.5 2.40e-01 -0.3 1.00e+00 8.09e-01f 1
35 -1.1357983e+04 4.44e-16 1.09e-01 -2.5 2.40e-01 -0.3 1.00e+00 8.09e-01f 1
36 -1.1495264e+04 4.44e-16 1.11e-01 -2.5 7.65e-01 -0.8 1.00e+00 8.22e-01f 1
36 -1.1495264e+04 4.44e-16 1.11e-01 -2.5 7.65e-01 -0.8 1.00e+00 8.22e-01f 1
37 -1.1541640e+04 8.88e-16 1.10e-01 -2.5 2.71e-01 -0.4 1.00e+00 6.66e-01f 1 37 -1.1541640e+04 8.88e-16 1.10e-01 -2.5 2.71e-01 -0.4 1.00e+00 6.66e-01f 1
38 -1.1625748e+04 4.44e-16 1.96e-01 -2.5 8.06e-01 -0.9 1.00e+00 5.24e-01f 1 38 -1.1625748e+04 4.44e-16 1.96e-01 -2.5 8.06e-01 -0.9 1.00e+00 5.24e-01f 1
39 -1.1649056e+04 4.44e-16 1.47e-01 -2.5 2.59e-01 -0.4 1.00e+00 4.51e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
40 -1.1692578e+04 8.88e-16 9.82e-02 -2.5 7.46e-01 -0.9 1.00e+00 3.17e-01f 1
39 -1.1649056e+04 4.44e-16 1.47e-01 -2.5 2.59e-01 -0.4 1.00e+00 4.51e-01f 1
41 -1.1724686e+04 4.44e-16 8.02e-02 -2.5 2.42e-01 -0.5 1.00e+00 8.36e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
40 -1.1692578e+04 8.88e-16 9.82e-02 -2.5 7.46e-01 -0.9 1.00e+00 3.17e-01f 1 42 -1.1747588e+04 4.44e-16 1.31e-01 -2.5 5.81e-01 -1.0 1.00e+00 3.16e-01f 1
41 -1.1724686e+04 4.44e-16 8.02e-02 -2.5 2.42e-01 -0.5 1.00e+00 8.36e-01f 1 43 -1.1764889e+04 8.88e-16 5.93e-02 -2.5 2.09e-01 -0.5 1.00e+00 7.52e-01f 1
44 -1.1812795e+04 8.88e-16 4.96e-02 -2.5 5.23e-01 -1.0 1.00e+00 1.00e+00f 1 42 -1.1747588e+04 4.44e-16 1.31e-01 -2.5 5.81e-01 -1.0 1.00e+00 3.16e-01f 1
45 -1.1825875e+04 4.44e-16 4.63e-02 -2.5 1.80e-01 -0.6 1.00e+00 8.12e-01f 1 43 -1.1764889e+04 8.88e-16 5.93e-02 -2.5 2.09e-01 -0.5 1.00e+00 7.52e-01f 1
46 -1.1841179e+04 4.44e-16 5.32e-02 -2.5 3.67e-01 -1.1 1.00e+00 5.05e-01f 1
44 -1.1812795e+04 8.88e-16 4.96e-02 -2.5 5.23e-01 -1.0 1.00e+00 1.00e+00f 1
47 -1.1847163e+04 4.44e-16 3.00e-02 -2.5 1.10e-01 -0.6 1.00e+00 8.76e-01f 1
45 -1.1825875e+04 4.44e-16 4.63e-02 -2.5 1.80e-01 -0.6 1.00e+00 8.12e-01f 1
48 -1.1849096e+04 8.88e-16 2.61e-02 -2.5 4.35e-02 -0.2 1.00e+00 1.00e+00f 1
46 -1.1841179e+04 4.44e-16 5.32e-02 -2.5 3.67e-01 -1.1 1.00e+00 5.05e-01f 1
49 -1.1887148e+04 4.44e-16 2.56e-02 -3.8 1.28e-01 -0.7 1.00e+00 9.88e-01f 1
47 -1.1847163e+04 4.44e-16 3.00e-02 -2.5 1.10e-01 -0.6 1.00e+00 8.76e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
50 -1.1890817e+04 8.88e-16 2.46e-02 -3.8 4.61e-02 -0.3 1.00e+00 1.00e+00f 1
48 -1.1849096e+04 8.88e-16 2.61e-02 -2.5 4.35e-02 -0.2 1.00e+00 1.00e+00f 1
51 -1.1894292e+04 4.44e-16 2.31e-02 -3.8 1.25e-01 -0.8 1.00e+00 5.90e-01f 1
49 -1.1887148e+04 4.44e-16 2.56e-02 -3.8 1.28e-01 -0.7 1.00e+00 9.88e-01f 1
52 -1.1896319e+04 4.44e-16 2.22e-02 -3.8 4.68e-02 -0.3 1.00e+00 1.00e+00f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
50 -1.1890817e+04 8.88e-16 2.46e-02 -3.8 4.61e-02 -0.3 1.00e+00 1.00e+00f 1
53 -1.1900925e+04 4.44e-16 1.99e-02 -3.8 1.24e-01 -0.8 1.00e+00 8.80e-01f 1
51 -1.1894292e+04 4.44e-16 2.31e-02 -3.8 1.25e-01 -0.8 1.00e+00 5.90e-01f 1
54 -1.1901443e+04 8.88e-16 3.75e-02 -3.8 4.33e-02 -0.4 1.00e+00 3.49e-01f 1
52 -1.1896319e+04 4.44e-16 2.22e-02 -3.8 4.68e-02 -0.3 1.00e+00 1.00e+00f 1 55 -1.1902957e+04 4.44e-16 2.40e-02 -3.8 1.21e-01 -0.9 1.00e+00 4.65e-01f 1
53 -1.1900925e+04 4.44e-16 1.99e-02 -3.8 1.24e-01 -0.8 1.00e+00 8.80e-01f 1
56 -1.1904085e+04 8.88e-16 1.72e-02 -3.8 4.59e-02 -0.4 1.00e+00 1.00e+00f 1
57 -1.1906850e+04 8.88e-16 1.57e-02 -3.8 1.26e-01 -0.9 1.00e+00 1.00e+00f 1
54 -1.1901443e+04 8.88e-16 3.75e-02 -3.8 4.33e-02 -0.4 1.00e+00 3.49e-01f 1
58 -1.1907718e+04 8.88e-16 1.51e-02 -3.8 4.53e-02 -0.5 1.00e+00 1.00e+00f 1
55 -1.1902957e+04 4.44e-16 2.40e-02 -3.8 1.21e-01 -0.9 1.00e+00 4.65e-01f 1
59 -1.1909719e+04 4.44e-16 1.34e-02 -3.8 1.21e-01 -1.0 1.00e+00 1.00e+00f 1
56 -1.1904085e+04 8.88e-16 1.72e-02 -3.8 4.59e-02 -0.4 1.00e+00 1.00e+00f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
60 -1.1910379e+04 4.44e-16 1.28e-02 -3.8 4.31e-02 -0.5 1.00e+00 1.00e+00f 1
57 -1.1906850e+04 8.88e-16 1.57e-02 -3.8 1.26e-01 -0.9 1.00e+00 1.00e+00f 1
61 -1.1911916e+04 4.44e-16 1.11e-02 -3.8 1.13e-01 -1.0 1.00e+00 1.00e+00f 1
58 -1.1907718e+04 8.88e-16 1.51e-02 -3.8 4.53e-02 -0.5 1.00e+00 1.00e+00f 1
62 -1.1912385e+04 4.44e-16 1.05e-02 -3.8 3.99e-02 -0.6 1.00e+00 1.00e+00f 1
59 -1.1909719e+04 4.44e-16 1.34e-02 -3.8 1.21e-01 -1.0 1.00e+00 1.00e+00f 1
63 -1.1913218e+04 4.44e-16 9.18e-03 -3.8 1.00e-01 -1.1 1.00e+00 7.69e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
60 -1.1910379e+04 4.44e-16 1.28e-02 -3.8 4.31e-02 -0.5 1.00e+00 1.00e+00f 1
64 -1.1913350e+04 4.44e-16 8.79e-03 -3.8 3.76e-02 -0.6 1.00e+00 1.00e+00f 1
61 -1.1911916e+04 4.44e-16 1.11e-02 -3.8 1.13e-01 -1.0 1.00e+00 1.00e+00f 1
65 -1.1913467e+04 8.88e-16 8.05e-03 -3.8 1.29e-02 -0.2 1.00e+00 1.00e+00f 1
62 -1.1912385e+04 4.44e-16 1.05e-02 -3.8 3.99e-02 -0.6 1.00e+00 1.00e+00f 1
66 -1.1913758e+04 4.44e-16 7.22e-03 -3.8 3.48e-02 -0.7 1.00e+00 1.00e+00f 1
63 -1.1913218e+04 4.44e-16 9.18e-03 -3.8 1.00e-01 -1.1 1.00e+00 7.69e-01f 1
67 -1.1913840e+04 4.44e-16 7.15e-03 -3.8 1.29e-02 -0.3 1.00e+00 1.00e+00f 1
64 -1.1913350e+04 4.44e-16 8.79e-03 -3.8 3.76e-02 -0.6 1.00e+00 1.00e+00f 1
68 -1.1914039e+04 8.88e-16 6.69e-03 -3.8 3.63e-02 -0.7 1.00e+00 1.00e+00f 1
65 -1.1913467e+04 8.88e-16 8.05e-03 -3.8 1.29e-02 -0.2 1.00e+00 1.00e+00f 1
69 -1.1914106e+04 4.44e-16 6.49e-03 -3.8 1.32e-02 -0.3 1.00e+00 1.00e+00f 1
66 -1.1913758e+04 4.44e-16 7.22e-03 -3.8 3.48e-02 -0.7 1.00e+00 1.00e+00f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
70 -1.1914276e+04 8.88e-16 5.89e-03 -3.8 3.59e-02 -0.8 1.00e+00 1.00e+00f 1
67 -1.1913840e+04 4.44e-16 7.15e-03 -3.8 1.29e-02 -0.3 1.00e+00 1.00e+00f 1
71 -1.1914333e+04 4.44e-16 5.66e-03 -3.8 1.29e-02 -0.4 1.00e+00 1.00e+00f 1
68 -1.1914039e+04 8.88e-16 6.69e-03 -3.8 3.63e-02 -0.7 1.00e+00 1.00e+00f 1 72 -1.1914476e+04 4.44e-16 5.04e-03 -3.8 3.45e-02 -0.8 1.00e+00 1.00e+00f 1
73 -1.1914524e+04 4.44e-16 4.78e-03 -3.8 1.23e-02 -0.4 1.00e+00 1.00e+00f 1 69 -1.1914106e+04 4.44e-16 6.49e-03 -3.8 1.32e-02 -0.3 1.00e+00 1.00e+00f 1
74 -1.1914648e+04 8.88e-16 4.15e-03 -3.8 3.20e-02 -0.9 1.00e+00 1.00e+00f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
70 -1.1914276e+04 8.88e-16 5.89e-03 -3.8 3.59e-02 -0.8 1.00e+00 1.00e+00f 1
75 -1.1914692e+04 8.88e-16 3.84e-03 -3.8 1.11e-02 -0.5 1.00e+00 1.00e+00f 1
71 -1.1914333e+04 4.44e-16 5.66e-03 -3.8 1.29e-02 -0.4 1.00e+00 1.00e+00f 1
76 -1.1914895e+04 4.44e-16 3.11e-03 -3.8 2.70e-02 -0.9 1.00e+00 1.00e+00f 1
72 -1.1914476e+04 4.44e-16 5.04e-03 -3.8 3.45e-02 -0.8 1.00e+00 1.00e+00f 1
77 -1.1915024e+04 4.44e-16 3.40e-03 -3.8 1.10e-02 -0.5 1.00e+00 1.00e+00f 1
73 -1.1914524e+04 4.44e-16 4.78e-03 -3.8 1.23e-02 -0.4 1.00e+00 1.00e+00f 1
78 -1.1919159e+04 8.88e-16 1.51e-02 -3.8 1.48e-01 -1.0 1.00e+00 1.00e+00f 1
74 -1.1914648e+04 8.88e-16 4.15e-03 -3.8 3.20e-02 -0.9 1.00e+00 1.00e+00f 1
79 -1.1923387e+04 8.88e-16 2.13e-02 -3.8 7.81e-02 -0.6 1.00e+00 1.00e+00f 1
75 -1.1914692e+04 8.88e-16 3.84e-03 -3.8 1.11e-02 -0.5 1.00e+00 1.00e+00f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
80 -1.2408366e+04 4.44e-16 1.62e-01 -3.8 1.78e+00 -1.0 1.00e+00 1.00e+00f 1
76 -1.1914895e+04 4.44e-16 3.11e-03 -3.8 2.70e-02 -0.9 1.00e+00 1.00e+00f 1
81 -1.3029263e+04 4.44e-16 2.49e-01 -3.8 1.03e+00 -0.6 1.00e+00 1.00e+00f 1
77 -1.1915024e+04 4.44e-16 3.40e-03 -3.8 1.10e-02 -0.5 1.00e+00 1.00e+00f 1
82 -1.3154451e+04 4.44e-16 2.64e-01 -3.8 4.46e-01 -0.2 1.00e+00 3.74e-01f 1
78 -1.1919159e+04 8.88e-16 1.51e-02 -3.8 1.48e-01 -1.0 1.00e+00 1.00e+00f 1
83 -1.3582239e+04 4.44e-16 8.27e-01 -3.8 1.71e+00 -0.7 1.00e+00 3.35e-01f 1
79 -1.1923387e+04 8.88e-16 2.13e-02 -3.8 7.81e-02 -0.6 1.00e+00 1.00e+00f 1 84 -1.3585795e+04 4.44e-16 2.22e+00 -3.8 2.01e+01 -1.1 2.24e-01 2.40e-04f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
85 -1.4139380e+04 8.88e-16 8.37e-01 -3.8 1.99e+00 -0.7 1.00e+00 3.45e-01f 1
80 -1.2408366e+04 4.44e-16 1.62e-01 -3.8 1.78e+00 -1.0 1.00e+00 1.00e+00f 1
86 -1.4163637e+04 8.88e-16 2.41e+00 -3.8 1.71e+01 -1.2 2.99e-01 1.84e-03f 1
81 -1.3029263e+04 4.44e-16 2.49e-01 -3.8 1.03e+00 -0.6 1.00e+00 1.00e+00f 1
87 -1.4754593e+04 8.88e-16 9.25e-01 -3.8 2.26e+00 -0.8 1.00e+00 3.11e-01f 1
82 -1.3154451e+04 4.44e-16 2.64e-01 -3.8 4.46e-01 -0.2 1.00e+00 3.74e-01f 1
88 -1.4876592e+04 8.88e-16 2.29e+00 -3.8 1.04e+01 -1.2 4.29e-01 1.19e-02f 1
83 -1.3582239e+04 4.44e-16 8.27e-01 -3.8 1.71e+00 -0.7 1.00e+00 3.35e-01f 1
89 -1.5246090e+04 8.88e-16 7.58e-01 -3.8 1.88e+00 -0.8 1.00e+00 2.53e-01f 1 84 -1.3585795e+04 4.44e-16 2.22e+00 -3.8 2.01e+01 -1.1 2.24e-01 2.40e-04f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
90 -1.5555497e+04 8.88e-16 1.66e+00 -3.8 7.10e+00 -1.3 7.33e-01 5.65e-02f 1 85 -1.4139380e+04 8.88e-16 8.37e-01 -3.8 1.99e+00 -0.7 1.00e+00 3.45e-01f 1
86 -1.4163637e+04 8.88e-16 2.41e+00 -3.8 1.71e+01 -1.2 2.99e-01 1.84e-03f 1 91 -1.5710439e+04 8.88e-16 6.09e-01 -3.8 1.31e+00 -0.9 1.00e+00 1.25e-01f 1
92 -1.6122865e+04 8.88e-16 1.25e+00 -3.8 4.53e+00 -1.3 1.00e+00 1.24e-01f 1 87 -1.4754593e+04 8.88e-16 9.25e-01 -3.8 2.26e+00 -0.8 1.00e+00 3.11e-01f 1
88 -1.4876592e+04 8.88e-16 2.29e+00 -3.8 1.04e+01 -1.2 4.29e-01 1.19e-02f 1
93 -1.6281605e+04 8.88e-16 4.63e-01 -3.8 1.38e+00 -0.9 1.00e+00 1.58e-01f 1
94 -1.6454487e+04 8.88e-16 8.61e-01 -3.8 3.86e+00 -1.4 1.00e+00 7.01e-02f 1 89 -1.5246090e+04 8.88e-16 7.58e-01 -3.8 1.88e+00 -0.8 1.00e+00 2.53e-01f 1
95 -1.6709991e+04 1.33e-15 1.50e+00 -3.8 9.25e+00 -1.9 1.00e+00 6.14e-02f 1iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
90 -1.5555497e+04 8.88e-16 1.66e+00 -3.8 7.10e+00 -1.3 7.33e-01 5.65e-02f 1
96 -1.6928904e+04 1.33e-15 1.34e+00 -3.8 1.10e+01 - 5.63e-01 6.02e-02f 1
91 -1.5710439e+04 8.88e-16 6.09e-01 -3.8 1.31e+00 -0.9 1.00e+00 1.25e-01f 1
97 -1.7044094e+04 1.33e-15 5.56e-01 -3.8 5.63e+00 - 1.00e+00 8.24e-02f 1
92 -1.6122865e+04 8.88e-16 1.25e+00 -3.8 4.53e+00 -1.3 1.00e+00 1.24e-01f 1 98 -1.7147587e+04 8.88e-16 2.46e-01 -3.8 3.06e+00 - 1.00e+00 2.23e-01f 1
99 -1.7189306e+04 8.88e-16 1.85e-01 -3.8 2.04e+00 - 1.00e+00 1.91e-01f 1
93 -1.6281605e+04 8.88e-16 4.63e-01 -3.8 1.38e+00 -0.9 1.00e+00 1.58e-01f 1
iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
100 -1.7210674e+04 8.88e-16 1.77e-01 -3.8 1.46e+00 - 1.00e+00 2.15e-01f 1
94 -1.6454487e+04 8.88e-16 8.61e-01 -3.8 3.86e+00 -1.4 1.00e+00 7.01e-02f 1
101 -1.7225815e+04 8.88e-16 1.20e-01 -3.8 8.91e-01 - 1.00e+00 3.02e-01f 1
95 -1.6709991e+04 1.33e-15 1.50e+00 -3.8 9.25e+00 -1.9 1.00e+00 6.14e-02f 1 102 -1.7239017e+04 4.44e-16 5.40e-02 -3.8 3.70e-01 - 1.00e+00 5.34e-01f 1
103 -1.7245856e+04 4.44e-16 1.81e-02 -3.8 9.58e-02 - 1.00e+00 6.58e-01f 1 96 -1.6928904e+04 1.33e-15 1.34e+00 -3.8 1.10e+01 - 5.63e-01 6.02e-02f 1
104 -1.7249326e+04 4.44e-16 1.35e-06 -3.8 1.89e-02 - 1.00e+00 1.00e+00f 1 97 -1.7044094e+04 1.33e-15 5.56e-01 -3.8 5.63e+00 - 1.00e+00 8.24e-02f 1
105 -1.7252311e+04 4.44e-16 5.39e-07 -5.7 1.82e-02 - 1.00e+00 1.00e+00f 1 98 -1.7147587e+04 8.88e-16 2.46e-01 -3.8 3.06e+00 - 1.00e+00 2.23e-01f 1
106 -1.7252317e+04 8.88e-16 7.37e-10 -5.7 7.24e-03 - 1.00e+00 1.00e+00f 1 99 -1.7189306e+04 8.88e-16 1.85e-01 -3.8 2.04e+00 - 1.00e+00 1.91e-01f 1
107 -1.7252355e+04 4.44e-16 7.51e-11 -8.6 2.28e-03 - 1.00e+00 1.00e+00f 1iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls
100 -1.7210674e+04 8.88e-16 1.77e-01 -3.8 1.46e+00 - 1.00e+00 2.15e-01f 1
108 -1.7252355e+04 8.88e-16 4.65e-13 -8.6 1.96e-04 - 1.00e+00 1.00e+00f 1
101 -1.7225815e+04 8.88e-16 1.20e-01 -3.8 8.91e-01 - 1.00e+00 3.02e-01f 1
Number of Iterations....: 108
```