auditable control 1autonomous driving 1model predictive control 1real-time optimization 1rule-based planning 1
From the 1 of 6 linked papers with an AI index.
Showing cs.ROShow all
2 papers · 1 filter
cs.RO2026
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…
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…