5 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,…
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…
Remote Assistance or Remote Driving: The Impact of Operational Design Domains on ADS-Supporting Systems Selection
Ole Hans, Benedikt Walter
High level Automated Driving Systems (ADS) can handle many situations, but they still encounter situations where human intervention is required. In systems where a physical driver…
Evaluation of Remote Driver Performance in Urban Environment Operational Design Domains
Ole Hans, Benedikt Walter, Jürgen Adamy
Remote driving has emerged as a solution for enabling human intervention in scenarios where Automated Driving Systems (ADS) face challenges, particularly in urban Operational Desig…