This project focuses on a developing mobile robotic capsule endoscopes (RCE) for exploration of the gastrointestinal (GI) tract. Such robots could improve procedures for both the patient and physician. This project is in collaboration with Dr. Steven Edmundowicz in Gastroentrology at CU Anschutz, Dr. Christoffer Heckman at CU Boulder, and Drs. Hao Zhang and Hua Wang in the Department of Computer Science at the Colorado School of Mines. Project funding and recent peer-reviewed papers are listed below.