The research group RAM - EEMCS has developed a way to control the trajectory of UMRs in a closed-loop control setting. Before, this was only possible using open-loop control. The availability of closed-loop control now paves the way for further experimentation on UMRs in a practical clinical setting. One of the requirements for the implementation of UMRs in the clinical world is that more than one UMR is often desired to increase the effectiveness of certain treatments, e.g., locally induced radiation cancer treatments. However, the control of multiple UMRs in a single body could impose interference with said UMRs. Therefore, it is vital to investigate the possibility of having multiple UMRs in a single body and still be able to control them individually. Since most of the treatments are concentrated around a small area insides one's body, the relevant volume would be of sizes around 1 dm^3.
The goal of this thesis is to achieve independent UMR control in a region of approximateley 1 dm^3 in which at least one other UMR is present. The other UMR should not significantly move, that is, it can wiggle around its position, but not deviate more than 2 cm from it.