@article{hierarchicalcausalabductionafoundationfr,
  title = {Hierarchical Causal Abduction: A Foundation Framework for Explainable Model Predictive Control},
  author = {Ramesh Arvind Naagarajan and Zühal Wagner and Stefan Streif},
  year = {2026},
  eprint = {2605.10624},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.10624},
}