Magnetic Needle Steering Model Identification Using Expectation-Maximization. - Richard L. Pratt; Andrew J. Petruska (IROS, 2019)

Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization. - Richard L. Pratt; Andrew J. Petruska (Robotics, 2022)

Observed Control of Magnetic Continuum Devices. - Richard L. Pratt; Brooke E. Suesser; Andrew J. Petruska (Robotics, 2023)

Magnetic needle steering control using Lyapunov redesign. - Richard L. Pratt; Andrew J. Petruska (Int. J. Robotics Res., 2024)