@ARTICLE{FlocchiniPS2008J,
  author = {P. Flocchini and G. Prencipe and N. Santoro and P. Widmayer},
  title = {{A}rbitrary {P}attern {F}ormation by {A}synchronous, {A}nonymous,
	{O}blivious {R}obots.},
  journal = {Theoretical Computer Science},
  year = {2008},
  volume = {407},
  pages = {412-447},
  number = {1-3},
  doi = {http://dx.doi.org/10.1016/j.tcs.2008.07.026}
}