@article{dong2020controlling, title = {Controlling two-dimensional collective formation and cooperative behavior of magnetic microrobot swarms}, author = {Dong, Xiaoguang and Sitti, Metin}, journal = {The International Journal of Robotics Research}, volume = {39}, number = {5}, pages = {617--638}, year = {2020}, doi = {10.1177/0278364920903107} }