Author

Jamilé Chahine

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Preprint Aug 2026

Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation

This paper evaluates whether a horizon-weighted sum of those multipliers, a dual stress signal, provides a hazard monitor complementary to the geometric warnings the same state already supports, against a battery of fifteen geometric detectors tuned to a matched false-alarm budget.

Jamilé Chahine, Wenqi Cai, John Abanes et al. · 0 citations