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.
Magnetically actuated capsule robots: A review,
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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.