publications

2027

1. Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control

   Tanmay Dokania, and Yashwanth Kumar Nakka

   In AIAA SciTech Forum, 2027

   Accepted. Finalist, AIAA GNC Graduate Student Paper Competition

   arXiv Bib

   @inproceedings{dokania2027maximal,
     title = {Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control},
     author = {Dokania, Tanmay and Kumar Nakka, Yashwanth},
     booktitle = {AIAA SciTech Forum},
     year = {2027},
     note = {Accepted. Finalist, AIAA GNC Graduate Student Paper Competition},
   }

2026

1. socx: GPU-Accelerated Chance-Constrained Stochastic Optimal Control using JAX

   Tanmay Dokania, and Yashwanth Kumar Nakka

   IEEE Robotics and Automation Letters, 2026

   Submitted; under review

   arXiv Bib

   @article{dokania2026socx,
     title = {{socx}: {GPU}-Accelerated Chance-Constrained Stochastic Optimal Control using {JAX}},
     author = {Dokania, Tanmay and Kumar Nakka, Yashwanth},
     journal = {IEEE Robotics and Automation Letters},
     year = {2026},
     note = {Submitted; under review},
   }

2. Risk-Aware Kinodynamic Motion Planning Under Uncertainty For Safe Navigation on Planetary Environments

   Sachin Sunil Kelkar, Tanmay Dokania, and Yashwanth Kumar Nakka

   IEEE Robotics and Automation Letters, 2026

   Submitted; under review

   arXiv Bib

   @article{kelkar2026risk,
     title = {Risk-Aware Kinodynamic Motion Planning Under Uncertainty For Safe Navigation on Planetary Environments},
     author = {Kelkar, Sachin Sunil and Dokania, Tanmay and Kumar Nakka, Yashwanth},
     journal = {IEEE Robotics and Automation Letters},
     year = {2026},
     note = {Submitted; under review},
   }

3. Exact and Approximate Convex Reformulation of Linear Stochastic Optimal Control With Chance Constraints

   Tanmay Dokania, and Yashwanth Kumar Nakka

   IEEE Control Systems Letters, 2026

   Volume 10, pages 787–792. Best student poster, annual DCL student symposium (2026)

   Bib HTML

   @article{11554308,
     author = {Dokania, Tanmay and Kumar Nakka, Yashwanth},
     journal = {IEEE Control Systems Letters},
     title = {Exact and Approximate Convex Reformulation of Linear Stochastic Optimal Control With Chance Constraints},
     year = {2026},
     volume = {10},
     pages = {787--792},
     doi = {10.1109/LCSYS.2026.3701076},
     note = {Volume 10, pages 787--792. Best student poster, annual DCL student symposium (2026)},
   }