@article{son20165, title = {A 5-D localization method for a magnetically manipulated untethered robot using a 2-D array of Hall-effect sensors}, author = {Son, Donghoon and Yim, Sehyuk and Sitti, Metin}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {21}, number = {2}, pages = {708--716}, year = {2016}, doi = {10.1109/TMECH.2015.2488361} }