From the 1 of 4 linked papers with an AI index.
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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
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…