# Heterogeneous multiple soft millirobots in three-dimensional lumens

> Research article (Science Advances, 2024) · cited 23× · AI/ML

**Wikidata**: [openalex:W4404090873](https://www.wikidata.org/wiki/openalex:W4404090873)  
**Source**: https://4ort.xyz/entity/heterogeneous-multiple-soft-millirobots-in-three-dimensional-lumens