Weight Certificates for Convex Multi-Objective MPC: Geometric Characterization, ${\ell }^1$ Construction, and ${\ell }^2$ 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 $L+1$ sequential programs per tick,…