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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.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…