@article{ye2014rotating, title = {Rotating Magnetic Miniature Swimming Robots With Multiple Flexible Flagella}, author = {Ye, Zhou and R{\'e}gnier, St{\'e}phane and Sitti, Metin}, journal = {IEEE Trans. on Robotics}, volume = {30}, number = {1}, pages = {3--13}, year = {2014}, doi = {} }