3 papers
cs.RO2026
Risk-Aware Kinodynamic Motion Planning Under Uncertainty For Safe Navigation on Planetary Environments
Sachin Sunil Kelkar, Tanmay Dokania, Yashwanth Kumar Nakka
For autonomous space exploration, robotic agents need to perform motion planning in which environmental interactions may be unknown. Learning these interactions, such as terrain me…
eess.SY2026
Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control
Tanmay Dokania, Yashwanth Kumar Nakka
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constrai…
eess.SY2026
Exact and Approximate Convex Reformulation of Linear Stochastic Optimal Control with Chance Constraints
Tanmay Dokania, Yashwanth Kumar Nakka
In this paper, we present an equivalent convex optimization formulation for discrete-time stochastic linear systems subject to linear chance constraints, alongside a tight convex r…