@article{floyd2011control,
  title = {Control methodologies for a heterogeneous group of untethered magnetic micro-robots},
  journal = {The International Journal of Robotics Research},
  volume = {30},
  number = {13},
  pages = {1553--1565},
  publisher = {SAGE Publications},
  year = {2011},
  author = {Floyd, Steven and Diller, Eric and Pawashe, Chytra and Sitti, Metin}
}