SHIELD derives safe certificates from Lagrangian duality to reduce decision variables and constraints in convex programs, accelerated by a transformer network, delivering order-of-magnitude speedups in stochastic MPC for multi-modal traffic with preserved feasibility and safety.
Distributed model predictive control using a chain of tubes
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SHIELD: Scalable Optimal Control with Certification using Duality and Convexity
SHIELD derives safe certificates from Lagrangian duality to reduce decision variables and constraints in convex programs, accelerated by a transformer network, delivering order-of-magnitude speedups in stochastic MPC for multi-modal traffic with preserved feasibility and safety.