@article{donghoon2021,
  title = {Permanent magnet array-driven navigation of wireless millirobots inside soft tissues},
  journal = {Science Advances},
  volume = {7},
  number = {43},
  pages = {eabi8932},
  year = {2021},
  author = {Son, Donghoon and Ugurlu, Musab cagri and Sitti, Metin},
  doi = {10.1126/sciadv.abi8932}
}