@article{floyd2011control, title = {Control methodologies for a heterogeneous group of untethered magnetic micro-robots}, author = {Floyd, Steven and Diller, Eric and Pawashe, Chytra and Sitti, Metin}, journal = {The International Journal of Robotics Research}, volume = {30}, number = {13}, pages = {1553--1565}, publisher = {SAGE Publications}, year = {2011}, doi = {} }