@article{diller2013independent,
  title = {Independent control of multiple magnetic microrobots in three dimensions},
  journal = {The International Journal of Robotics Research},
  volume = {32},
  number = {5},
  pages = {614--631},
  publisher = {SAGE Publications Sage UK: London, England},
  year = {2013},
  author = {Diller, Eric and Giltinan, Joshua and Sitti, Metin}
}