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cs.RO2026
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,…
cs.RO2026
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…