@article{cursi2021ral,
  title={Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization},
  author={Cursi, Francesco and Modugno, Valerio and Lanari, Leonardo and Oriolo, Giuseppe and Kormushev, Petar},
  journal={IEEE Robotics and Automation Letters (RA-L)},
  year={2021},
  month={February},
  issn="2377-3766",
  url = "https://kormushev.com/papers/Cursi_RA-L-2021.pdf",
  doi = "10.1109/LRA.2021.3062339",
  publisher={IEEE}
}