From the 1 of 7 linked papers with an AI index.
7 papers
Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks
Hadi Hajieghrary, Benedikt Walter, Chaitanya Shinde +2
The paper introduces W‑SQP, a weighted tiered‑slack nonlinear model predictive controller that enforces multiple driving rules in real time while providing auditable per‑rule resid…
Decentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation
Hadi Hajieghrary, Benedikt Walter, Paul Schmitt +1
Cooperative aerial transport requires controllers that respect nonlinear manifold geometry, operate without centralized coordination, and respect operational safety constraints. To…
Re-imagining ISO 26262 in the Age of Autonomous Vehicles: Enhancing Controllability through Transferability and Predictability
Chaitanya Shinde, Hadi Hajieghrary, Paul Schmitt +3
The ISO 26262 standard defines functional safety for road vehicles through risk assessments based on Severity, Exposure, and Controllability, grounded in a human-driven vehicle par…
RECTOR: Priority-Aware Rule-Based Reranking for Compliance-Aware Autonomous Driving Trajectory Selection
Hadi Hajieghrary, Benedikt Walter, Chaitanya Shinde +2
Autonomous driving stacks must pick one trajectory from a multi-modal candidate set; choosing by model confidence ignores safety, traffic-law, and comfort constraints. We present \…
Embodied AI in Action: Insights from SAE World Congress 2026 on Safety, Trust, Robotics, and Real-World Deployment
Jan-Mou Li, Paul Schmitt, Wei Tong +4
Embodied artificial intelligence is rapidly moving from research into real-world systems such as autonomous vehicles, mobile robots, and industrial machines. As these systems becom…
Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance
Hadi Hajieghrary, Paul Schmitt
Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Exi…