Kloock, ChristineChristineKloockWerner, HerbertHerbertWerner2020-09-102020-09-102020-05European Control Conference (ECC 2020): 1224-1229 (2020)http://hdl.handle.net/11420/7297This paper addresses the topic of prediction mismatch for distributed model predictive control. Based on a simple scenario the problem is illustrated for a small group of agents with obstacles in simulation studies. A novel approach based on external soft constraints is presented and shown in the simulated scenario to recover feasibility that was otherwise lost.enConference Paper10.23919/ECC51009.2020Other