Arbitrary Pattern Formation by Asynchronous, Anonymous, Oblivious Robots. Flocchini, P., Prencipe, G., Santoro, N., & Widmayer, P. Theoretical Computer Science, 407(1-3):412-447, 2008.
doi  bibtex   
@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}
}
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