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.
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