@article{tiryaki2020realistic, title = {A realistic simulation environment for MRI-based robust control of untethered magnetic robots with intra-operational imaging}, author = {Tiryaki, Mehmet Efe and Erin, Önder and Sitti, Metin}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, number = {3}, pages = {4501-4508}, year = {2020}, doi = {10.1109/LRA.2020.3002213}, url = {https://ieeexplore.ieee.org/abstract/document/9116948/} }