  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 a
communication scheme is proposed to decouple computations. The derivative of
the solution of each sub-problem is used to approximate the evolution of the
system allowing the algorithm to decentralize and parallelize computations. The
effectiveness of the proposed algorithm is shown through simulations in a
cooperative driving scenario.
