@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} }