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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.SY2025
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…
eess.SY2025
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…