@article{diller2012control,
  title = {Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces},
  journal = {IEEE Transactions on Robotics},
  volume = {28},
  number = {1},
  pages = {172--182},
  publisher = {IEEE},
  year = {2012},
  author = {Diller, Eric and Floyd, Steven and Pawashe, Chytra and Sitti, Metin}
}