R.R. Negenborn, B. De Schutter, and J. Hellendoorn, "Multi-agent model predictive control: A survey," Tech. rep. 04-010, Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands, 23 pp., 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.