Yuichi Asahiro Satoshi Fujita Ichiro Suzuki Masafumi Yamashita A Self-stabilizing Marching Algorithm for a Group of Oblivious Robots. 125-144 2008 OPODIS http://dx.doi.org/10.1007/978-3-540-92221-6_10 conf/opodis/2008 db/conf/opodis/opodis2008.html#AsahiroFSY08