Kloock, ChristineChristineKloockWerner, HerbertHerbertWerner2021-01-132021-01-132020IEEE Conference on Decision and Control (CDC 2020)http://hdl.handle.net/11420/8431This paper revisits the theory and motivation of external soft constraints to encounter feasibility problems in non-iterative distributed model predictive control that are due to prediction mismatch. Using the idea of exact penalty theory for centralized model predictive control as a starting point, an approach is developed that ensures collision-freeness between a group of homogeneous agents in an environment with obstacles, based on recursive feasibility and a conditional hard constraint. Simulation results that illustrate the approach are presented and discussed.enConference Paper10.1109/CDC42340.2020.9304138Other