Author

Chaitanya Shinde

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Preprint Aug 2026

Weight Certificates for Convex Multi-Objective MPC: Geometric Characterization, $\ell^1$ Construction, and $\ell^2$ Foreclosure

Automated-driving rulebooks rank rule violations lexicographically, and model predictive control enforces that ranking either exactly, through $L{+}1$ sequential programs per tick, or approximately, through a weighted sum tuned by the separation heuristic $w_1\gg w_2\gg\cdots\gg w_L$. We show the heuristic answers the...

Hadi Hajieghrary, Benedikt Walter, Chaitanya Shinde et al. · 0 citations

Preprint Aug 2026

From Operational Design Domain to Action: A Systematic Behavioral Taxonomy for Autonomous Driving

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 once deployed within that domain. This gap between operating condition specification and behavioral validation represents a critical unreso...

Chaitanya Shinde, Hadi Hajieghrary, M. Hurtado · 0 citations