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In this paper, we have developed an approach for independent autonomous navigation of multiple microrobots under the influence of magnetic fields and validated it experimentally. We first developed a heuristics based planning algorithm for generating collision-free trajectories for the microrobots that are suitable to be executed by an available magnetic field. Second, we have modeled the dynamics of the microrobots to develop a controller for determining the forces that need to be generateddoi:10.3390/mi7010003 pmid:30407375 pmcid:PMC6190091 fatcat:oa5y2ptqfjch7owsqb64fm3kwi