Abstract: We present a computationally efficient approach for the intraoperative update of the feedback control policy for the steerable needle in the presence of the motion uncertainty. The solution to dynamic programming (DP) ...

Abstract: In this paper, we formulate the manipulator Jacobian matrix in a probabilistic framework based on the random matrix theory (RMT). Due to the limited available information on the system fluctuations, the parametric approaches ...

Abstract: Loosely interconnected cooperative systems such as cable robots are particularly susceptible to uncertainty. Such uncertainty is exacerbated by addition of the base mobility to realize reconfigurability within the system. ...