In this paper a decentralized control algorithm for systems composed of N dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into N optimal control sub-problems and a communication scheme is proposed to decouple computations. The derivative of the solution of each sub-problem is used to approximate the evolution of the system allowing the algorithm to decentralize and parallelize computations. The effectiveness of the proposed algorithm is shown through simulations in a cooperative driving scenario.
@article{arxiv.1702.07934,
title = {A decentralized algorithm for control of autonomous agents coupled by feasibility constraints},
author = {Ugo Rosolia and Francesco Braghin and Andrew G. Alleyne and Stijn De Bruyne and Edoardo Sabbioni},
journal= {arXiv preprint arXiv:1702.07934},
year = {2017}
}