Robotically controllable field generators for detecting distortions

A method performed by a set of one or more processors of a robotic system, the method comprising:

• commanding a first robotic arm to move an electromagnetic (EM) field generator from a first location to a second location while an EM sensor remains at a location;
• determining a robotic trajectory associated with the EM field generator moving from the first location to the second location;
• detecting an EM sensor trajectory of the EM sensor within an EM field, the EM sensor trajectory being associated with a time period in which the EM field generator moved along the robotic trajectory;
• determining a difference between the robotic trajectory and the EM sensor trajectory;
• and
• determining a presence of an EM distortion at the location based at least in part on the difference between the robotic trajectory and the EM sensor trajectory being greater than a distortion threshold.

A non-transitory computer readable storage medium comprising computer program instructions that when executed by one or more processors cause the one or more processors to:

• transmit a command to a first robotic arm to cause movement of an electromagnetic (EM) field generator along a robotic trajectory while an EM sensor remains at a location, the first robotic arm coupled to the EM field generator configured to generate the EM field;
• detect an EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory;
• analyze the robotic trajectory and the EM sensor trajectory to determine a difference between the robotic trajectory and the EM sensor trajectory;
• and
• determine a presence of an EM distortion at the location based at least in part on the difference between the robotic trajectory and the EM sensor trajectory being greater than a threshold.