# Explicit-MPC Safety Shield MVP

`shield_experiment.py` implements a deterministic toy wrapper for a disturbed 2D double integrator. It contains an affine LQR fallback, a polyhedral state check, the exact box-disturbance support term, robust one-step screening, and a smallest-grid correction toward the fallback.

Run:

```bash
/home/maxwelhelp/main/bin/python3 shield_experiment.py
```

The run writes `results.json`.