@article{diller2011assembly,
  title = {Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems},
  journal = {The International Journal of Robotics Research},
  volume = {30},
  number = {14},
  pages = {1667--1680},
  publisher = {SAGE Publications Sage UK: London, England},
  year = {2011},
  author = {Diller, Eric and Pawashe, Chytra and Floyd, Steven and Sitti, Metin}
}