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cs.RO2026
Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow
Anuruddha Bhattacharjee, Xinhao Chen, Lamar O. Mair +3
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remai…
cs.RO2026
Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
Kimia Forghani, Suraj Raval, Lamar Mair +2
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits…
cs.RO2026
Fluoroscopy-Constrained Magnetic Robot Control via Zernike-Based Field Modeling and Nonlinear MPC
Xinhao Chen, Hongkun Yao, Anuruddha Bhattacharjee +4
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is li…