My research focuses on addressing challenges in : (i) safe operations in the human environment under external disturbances, (ii) optimizing efficiency in performing real-world tasks in the presence of humans and (iii) capacity to adapt to a wide variety of tasks, transcending limitations associated with the pre-programmed functionalities. To address these challenges, my current research focuses on control and planning in robotics. Specifically, I apply optimization and deep learning based techniques for robust control, safe operations and task planning in indoor environments. My objective is to enable feasible operation of robots in an indoor environment, positively impacting housekeeping, retail-restocking and warehouse management.