Particle importance analysis: A fast localization method under indeterminate magnetic sources

Ruoyu Xu, Yichong Sun, Yimou Wu, Yehui Li, Zheng Li, Department of Surgery, The Chinese University of Hong Kong, Hong Kong, School of Computer Science and Engineering, Sun Yat-sen University, Multi-scale Medical Robotic Center, The Chinese University of Hong Kong, Hong Kong

The International Journal of Robotics Research

Published online on June 08, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
For magnetically actuated robots driven by external magnetic sources (EMSs), rapid and stable localization of the internal permanent magnet (IPM) is essential for closed-loop control. Existing sensor-array-based localization methods require a fixed model ...