1 citations · 1 across the 10 of their papers we have counts for
10 papers
Weight Certificates for Convex Multi-Objective MPC: Geometric Characterization, Construction, and Foreclosure
Hadi Hajieghrary, Benedikt Walter, Chaitanya Shinde +1
Automated-driving rulebooks rank rule violations lexicographically, and model predictive control enforces that ranking either exactly, through sequential programs per tick,…
From Operational Design Domain to Action: A Systematic Behavioral Taxonomy for Autonomous Driving
Chaitanya Shinde, Hadi Hajieghrary, Miguel Hurtado
Operational Design Domain (ODD) specifications describe where an automated driving system (ADS) is permitted to operate, but they do not prescribe what the ADS must demonstrably do…
Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks
Hadi Hajieghrary, Benedikt Walter, Chaitanya Shinde +2
Autonomous-vehicle motion planners must resolve conflicts among safety, regulation, comfort, and efficiency in real time while exposing those decisions for audit. We present W-SQP,…
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 \…
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…
Benchmarking local motion planners for navigation of mobile manipulators
Sevag Tafnakaji, Hadi Hajieghrary, Quentin Teixeira +1
There are various trajectory planners for mobile manipulators. It is often challenging to compare their performance under similar circumstances due to differences in hardware, diss…
Bayesian Optimization-based Nonlinear Adaptive PID Controller Design for Robust Mobile Manipulation
Hadi Hajieghrary, Marc Peter Deisenroth, Yasemin Bekiroglu
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbance…
Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles
Hadi Hajieghrary, Dhanushka Kularatne, M. Ani Hsieh
In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrai…