{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:00:55Z","timestamp":1777716055722,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"13","license":[{"start":{"date-parts":[[2011,3,11]],"date-time":"2011-03-11T00:00:00Z","timestamp":1299801600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,11]]},"abstract":"<jats:p>In this work, we develop methods for controlling multiple untethered magnetic micro-robots (Mag-\u00b5Bots) without the need for a specialized substrate. We investigate Mag-\u00b5Bots that are geometrically and magnetically designed to respond uniquely to the same input magnetic fields. Designs include: (1) geometrically similar Mag-\u00b5Bots with different values of magnetization; (2) geometrically dissimilar Mag-\u00b5Bots with similar magnetization; and (3) geometrically dissimilar Mag-\u00b5Bots with dissimilar magnetization. The responses of both magnetically hard and soft Mag-\u00b5Bots are investigated. By controlling the input magnetic fields, individual and sub-groups of Mag-\u00b5Bots are able to locomote in a parallel fashion. Specifically, the magnitude and frequency of the imposed driving magnetic fields are used as selection methods among the Mag-\u00b5Bots. Various methods for accomplishing motion discrimination are discussed, modeled, and tested. It is found that while fully decoupled control is not possible with this method, parallel actuation of sub-groups of Mag-\u00b5Bots is possible and controllable.<\/jats:p>","DOI":"10.1177\/0278364911399525","type":"journal-article","created":{"date-parts":[[2011,3,13]],"date-time":"2011-03-13T20:39:38Z","timestamp":1300048778000},"page":"1553-1565","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":100,"title":["Control methodologies for a heterogeneous group of untethered magnetic micro-robots"],"prefix":"10.1177","volume":"30","author":[{"given":"Steven","family":"Floyd","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"},{"name":"Arete Associates, Arlington, VA 22202, USA (current address)"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eric","family":"Diller","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chytra","family":"Pawashe","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Metin","family":"Sitti","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"},{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2011,3,11]]},"reference":[{"key":"bibr1-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.910775"},{"key":"bibr2-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.526166"},{"key":"bibr3-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2008.924251"},{"key":"bibr4-0278364911399525","first-page":"528","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Floyd S","year":"2009"},{"key":"bibr5-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2028761"},{"key":"bibr6-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353351"},{"key":"bibr7-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1021\/nl900186w"},{"key":"bibr8-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1088\/0960-1317\/18\/11\/115018"},{"key":"bibr9-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152633"},{"key":"bibr10-0278364911399525","volume-title":"Modern Magnetic Materials: Principles and Applications","author":"O\u2019Handley R","year":"2000"},{"key":"bibr11-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909341413"},{"key":"bibr12-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1063\/1.3123231"},{"key":"bibr13-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1038\/4581121a"},{"key":"bibr14-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509528"},{"key":"bibr15-0278364911399525","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmmm.2003.12.337"},{"key":"bibr16-0278364911399525","volume":"94","author":"Zhang L","year":"2009","journal-title":"Applied Physics Letters"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364911399525","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364911399525","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:13Z","timestamp":1777457833000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364911399525"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,3,11]]},"references-count":16,"journal-issue":{"issue":"13","published-print":{"date-parts":[[2011,11]]}},"alternative-id":["10.1177\/0278364911399525"],"URL":"https:\/\/doi.org\/10.1177\/0278364911399525","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,3,11]]}}}