@article{cui2022novel,
  title={Novel coil array design and modeling for independent control of multiple magnetic microrobots},
  author={Cui, Guangming and Zhang, Pengsong and Liu, Xinyu and Xie, Linbo and Huang, Wentao and Pan, Peng and Qu, Juntian and Fan, Qigao},
  journal={IEEE Transactions on Industrial Electronics},
  volume={70},
  number={10},
  pages={10302--10311},
  year={2022},
  publisher={IEEE}
}