Poovathy, J. F. G., E. Sathish, N. Paramanandham, and A. L. Viswanath. “Magnetic Adhesion in Wall Climbing Robots Using Varied Electromagnet Arrangements”. Journal of Robotics and Control (JRC), vol. 3, no. 3, May 2022, pp. 354-60, doi:10.18196/jrc.v3i3.14748.