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Alouges F, DeSimone A, Heltai L, Lefebvre A, Merlet B.  2013.  Optimally Swimming Stokesian Robots. Discrete and Continuous Dynamical Systems - Series B. 18:1189-1215.
Alouges F, DeSimone A, Heltai L.  2011.  Numerical Strategies for Stroke Optimization of Axisymmetric Microswimmers. Mathematical Models and Methods in Applied Sciences. 21:361–387.