Towards MRI-guided and actuated tetherless milli-robots: Preoperative planning and modeling of control. - Thibault Kensicher; Julien Leclerc; Daniel Biediger; Dipan J. Shah; Ioannis Seimenis; Aaron T. Becker; Nikolaos V. Tsekos (IROS, 2017)

A Magnetic Manipulator Cooled With Liquid Nitrogen. - Julien Leclerc; Benedict Isichei; Aaron T. Becker (IEEE Robotics Autom. Lett., 2018)

Magnetic Hammer Actuation for Tissue Penetration Using a Millirobot. - Julien Leclerc; Ashwin Ramakrishnan; Nikolaos V. Tsekos; Aaron T. Becker (IEEE Robotics Autom. Lett., 2018)

Motion-planning Using RRTs for a Swarm of Robots Controlled by Global Inputs. - Parth Joshi; Julien Leclerc; Daniel Bao; Aaron T. Becker (CASE, 2019)

Analysis of 3D Position Control for a Multi-Agent System of Self-Propelled Agents Steered by a Shared, Global Control Input. - Li Huang; Julien Leclerc; Aaron T. Becker (ICRA, 2019)

3D Control of Rotating Millimeter-Scale Swimmers Through Obstacles. - Julien Leclerc; Haoran Zhao; Aaron T. Becker (ICRA, 2019)

Agile 3D-Navigation of a Helical Magnetic Swimmer. - Julien Leclerc; Haoran Zhao; Daniel Z. Bao; Aaron T. Becker; Mohamad Ghosn; Dipan J. Shah (ICRA, 2020)

Resonating Magnetic Manipulation for 3D Path-Following and Blood Clot Removal Using a Rotating Swimmer. - Julien Leclerc; Yitong Lu; Aaron T. Becker; Mohamad Ghosn; Dipan J. Shah (IROS, 2020)

3D Path-Following Using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot. - Haoran Zhao; Julien Leclerc; Maria Feucht; Olivia Bailey; Aaron T. Becker (IEEE Robotics Autom. Lett., 2020)

In Vitro Design Investigation of a Rotating Helical Magnetic Swimmer for Combined 3-D Navigation and Blood Clot Removal. - Julien Leclerc; Haoran Zhao; Daniel Bao; Aaron T. Becker (IEEE Trans. Robotics, 2020)

Data-Driven Control for a Milli-Scale Spiral-Type Magnetic Swimmer using MPC. - Haoran Zhao; Yitong Lu; Aaron T. Becker; Julien Leclerc (ICRA, 2022)

Gathering Physical Particles with a Global Magnetic Field Using Reinforcement Learning. - Matthias Konitzny; Yitong Lu; Julien Leclerc; Sándor P. Fekete; Aaron T. Becker (IROS, 2022)

Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints. - Haoran Zhao; Nihal Abdurahiman; Nikhil V. Navkar; Julien Leclerc; Aaron T. Becker (IROS, 2022)

Steering Rotating Magnetic Swimmers in 2.5 Dimensions Using Only 2D Ultrasonography for Position Sensing. - Yitong Lu; Haoran Zhao; Aaron T. Becker; Julien Leclerc (IEEE Robotics Autom. Lett., 2022)

Insertion, Retrieval and Performance Study of Miniature Magnetic Rotating Swimmers for the Treatment of Thrombi. - Yitong Lu; Jocelyn Ramos; Mohamad G. Ghosn; Dipan J. Shah; Aaron T. Becker; Julien Leclerc (IROS, 2023)

Closed-Loop Control of Magnetic Modular Cubes for 2D Self-Assembly. - Yitong Lu; Anuruddha Bhattacharjee; Conlan C. Taylor; Julien Leclerc; Jason M. O'Kane; MinJun Kim 001; Aaron T. Becker (IEEE Robotics Autom. Lett., 2023)

Detection and Tracking of Underwater Pipes using a Magnetic Camera. - Javier Garcia; Ryan Lewis; Mohammadreza Shahsavar; Aaron T. Becker; Julien Leclerc (CASE, 2024)

Open-Source CFD Simulation of Magnetic Rotating Swimmers with Experimental Validation. - Yitong Lu; Jocelyn Ramos; Deeksha Sarda; Dipan J. Shah; Aaron T. Becker; Julien Leclerc (CASE, 2024)

3D Navigation of a Magnetic Swimmer Using a 2D Ultrasonography Probe Manipulated by a Robotic Arm for Position Feedback. - Premal Gorroochurn; Charles P. Hong; Carter M. Klebuc; Yitong Lu; Khue Phan; Javier Garcia; Aaron T. Becker; Julien Leclerc (ICRA, 2024)

Feasibility Studies on a Magnetic Swimmer for Wireless Hyperthermia Applications. - Kalyani Gifford; Javier Garcia; Victor M. Baez; Julien Leclerc; Aaron T. Becker (UR, 2025)