Large networks of interconnected, independently actuated systems can be found these days in a broad spectrum of applications ranging from robotics and formation flight to civil engineering. The abundance and importance of these systems will continue to grow along with the necessity of avoiding centralized control design when it becomes computationally prohibitive or requires unrealistic expectations regarding information exchange. This book proposes a decentralized optimal control framework using distributed Receding Horizon Control (RHC) schemes to address this problem, which helps overcome...