@article{miyashita2013two,
  title = {Two-dimensional magnetic micro-module reconfigurations based on inter-modular interactions},
  journal = {The International Journal of Robotics Research},
  volume = {32},
  number = {5},
  pages = {591--613},
  publisher = {SAGE Publications Sage UK: London, England},
  year = {2013},
  author = {Miyashita, Shuhei and Diller, Eric and Sitti, Metin}
}