You can cite this work using the following

@article{testa2023tutorial,
  title={A Tutorial on Distributed Optimization for Cooperative Robotics: from Setups and Algorithms to Toolboxes and Research Directions},
  author={Testa, Andrea and Carnevale, Guido and Notarstefano, Giuseppe},
  journal={arXiv preprint arXiv:2309.04257},
  year={2023}
}

You can read our paper here.