@inproceedings{diller2011control,
  title = {Control of multiple heterogeneous magnetic micro-robots on non-specialized surfaces},
  booktitle = {Robotics and Automation (ICRA), 2011 IEEE International Conference on},
  pages = {115--120},
  organization = {IEEE},
  year = {2011},
  author = {Diller, Eric and Floyd, Steven and Pawashe, Chytra and Sitti, Metin}
}