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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 acommunication scheme is proposed to decouple computations. The derivative ofthe solution of each sub-problem is used to approximate the evolution of thesystem allowing the algorithm to decentralize and parallelize computations. Theeffectiveness of the proposed algorithm is shown through simulations in acooperative driving scenario.

A decentralized algorithm for control of autonomous agents coupled by feasibility constraints