CMU's riMESA combines Consensus ADMM with the incremental robust solver riSAM to unite distribution, incrementality, robustness and weak communication: sharing variables instead of full graphs, dual decay, RWBP that lets stale consensus be overruled by fresh evidence, and non-blocking communication threads. Across 2430 synthetic and 28 real datasets, its gap to Centralized GNC is 7x smaller than DLGBP and 17x smaller than DDF-SAM2, at only ~55 KB/s average bandwidth.
BLOG
