Taisuke Izumi Yoshiaki Katayama Nobuhiro Inuzuka Koichi Wada Gathering Autonomous Mobile Robots with Dynamic Compasses: An Optimal Result. 298-312 2007 conf/wdag/2007 DISC http://dx.doi.org/10.1007/978-3-540-75142-7_24 db/conf/wdag/disc2007.html#IzumiKIW07