Julien Leclerc Haoran Zhao Daniel Z. Bao Aaron T. Becker Mohamad Ghosn Dipan J. Shah Agile 3D-Navigation of a Helical Magnetic Swimmer. 7638-7644 2020 ICRA https://doi.org/10.1109/ICRA40945.2020.9197323 conf/icra/2020 db/conf/icra/icra2020.html#LeclercZBBGS20