@article{dson2018,
  title = {A simultaneous calibration method for magnetic robot localization and actuation systems},
  journal = {IEEE Transactions on Robotics},
  volume = {35},
  number = {2},
  pages = {343-352},
  year = {2018},
  author = {Son, Donghoon and Dong, Xiaoguang and Sitti, Metin}
}