@article{diller2012control, title = {Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces}, author = {Diller, Eric and Floyd, Steven and Pawashe, Chytra and Sitti, Metin}, journal = {IEEE Transactions on Robotics}, volume = {28}, number = {1}, pages = {172--182}, publisher = {IEEE}, year = {2012}, doi = {} }