eess.SY · 2026-07-26 · No. 65

Systems and Control, 2026-07-26.

1 new papers in eess.SY. Titles, authors, abstracts. Links to arXiv. Want this in your inbox every morning? Subscribe →

01 — The papers

1 entries
  1. 01

    Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction

    Yongyan Cao

    eess.SY · cs.AI · cs.RO

    Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a planned motion, remain compliant against moving tissue, reject friction and hysteresis, and respect a clinically meaningful never-exceed contact-force bound. We formulate catheter--tissue interaction dynamics in the scalar tip-normal coordinate of a single-segment single-tendon catheter. A partial-physics feedforward cancels only the...

    arxiv.org/abs/2607.20939 · PDF

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