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.
Endoscopic capsule robot-based diagnosis, navigation and localization in the gastrointestinal tract,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2024 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
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.