6 papers
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…
Terrain-Adaptive Grouser Wheel for Optimal Planetary Exploration: Design and Experimental Investigation
Vincent Griffo, Yashwanth Kumar Nakka
Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While…
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…
Information-Driven Fault Detection and Identification for Multi-Agent Spacecraft Systems: Collaborative On-Orbit Inspection Mission
Akshita Gupta, Arna Bhardwaj, Yashwanth Kumar Nakka +2
This work presents a global-to-local, task-aware fault detection and identification (FDI) framework for multi-spacecraft systems conducting collaborative inspection missions in low…
Perception-Integrated Safety Critical Control via Analytic Collision Cone Barrier Functions on 3D Gaussian Splatting
Dario Tscholl, Yashwanth Nakka, Brian Gunter
We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barri…
Global Task-aware Fault Detection, Identification For On-Orbit Multi-Spacecraft Collaborative Inspection
Akshita Gupta, Yashwanth Kumar Nakka, Changrak Choi +1
In this paper, we present a global-to-local task-aware fault detection and identification algorithm to detect failures in a multi-spacecraft system performing a collaborative inspe…