A constrained iLQR jointly planning external and internal magnet trajectories achieves mean positioning errors below 0.2 cm in robotic magnetic capsule navigation with obstacle avoidance.
Motion control of capsule robot based on adaptive magnetic levitation using electromagnetic coil,
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Trajectory Planning and Control for Robotic Magnetic Manipulation
A constrained iLQR jointly planning external and internal magnet trajectories achieves mean positioning errors below 0.2 cm in robotic magnetic capsule navigation with obstacle avoidance.