A controller for an agent of a group of agents, in particular for a group of autonomous or semi-autonomous vehicles, and to a computer program implementing such a controller. A temporal deep network for such a controller and to a method, a computer program and an apparatus for training the temporal deep network. The controller includes a temporal deep network designed to calculate a desired trajectory for the agent, a nonlinear model predictive controller designed to calculate commands for the agent based on the desired trajectory and desired trajectories of the other agents of the group of agents, and an augmented memory designed to integrate historic system states of the group of agents for the temporal deep network.