@article{pawashe2012two,
  title = {Two-dimensional autonomous microparticle manipulation strategies for magnetic microrobots in fluidic environments},
  journal = {IEEE Transactions on Robotics},
  volume = {28},
  number = {2},
  pages = {467--477},
  publisher = {IEEE},
  year = {2012},
  author = {Pawashe, Chytra and Floyd, Steven and Diller, Eric and Sitti, Metin}
}