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