Negenborn, R.R.; B. De Schutter, and J. Hellendoorn: Multi-agent model predictive control: A survey, pp. 23. Tech. rep. 04-010, Delft Center for Systems and Control, Delft University of Technology. Delft, The Netherlands, Dec. 2004.
In this report we define characteristic control design elements and show how conventional single-agent MPC implements these. We survey recent literature on multi-agent MPC and discuss how this literature deals with decomposition, problem assignment, and cooperation.