Effects of population density on the emergence of circle formation in multiple robots system with a local vision. - Takehiro Miyamae; Sumiaki Ichikawa; Fumio Hara (IROS, 2002)

Emergent Approach to Circle Formation by Multiple Autonomous Modular Robots. - Takehiro Miyamae; Sumiaki Ichikawa; Fumio Hara (J. Robotics Mechatronics, 2009)