Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility
R. Gerlach, S. von der Gracht, C. Hahn, J. Harbig, P. Kling, in: S. Bonomi, L. Galletta,  Etienne Rivière,  Valerio Schiavoni (Eds.), 28th International Conference on Principles of Distributed Systems (OPODIS 2024), Schloss Dagstuhl -- Leibniz-Zentrum für Informatik, 2025.

Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems
R. Gerlach, S. von der Gracht, ArXiv:2503.07576 (2025).

On the Dynamical Hierarchy in Gathering Protocols with Circulant  Topologies
R. Gerlach, S. von der Gracht, M. Dellnitz, ArXiv:2305.06632 (n.d.).

Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation
J. Castenow, J. Harbig, D. Jung, T. Knollmann, F. Meyer auf der Heide, Theoretical Computer Science 939 (2023) 261–291.

A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility 
J. Castenow, J. Harbig, D. Jung, P. Kling, T. Knollmann, F. Meyer auf der Heide, in: E. Hillel, R. Palmieri, E. Riviére (Eds.), Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) , Schloss Dagstuhl – Leibniz Zentrum für Informatik, Brussels, 2023, p. 15:1–15:25.

Unifying Gathering Protocols for Swarms of Mobile Robots
J. Castenow, J. Harbig, F. Meyer auf der Heide, in: Lecture Notes in Computer Science, Springer International Publishing, Cham, 2023.

A Discrete and Continuous Study of the Max-Chain-Formation Problem
J. Castenow, P. Kling, T. Knollmann, F. Meyer auf der Heide, Information and Computation (2022).

Gathering a Euclidean Closed Chain of Robots in Linear Time
J. Castenow, J. Harbig, D. Jung, T. Knollmann, F. Meyer auf der Heide, in: L. Gasieniec, R. Klasing, T. Radzik (Eds.), Proceedings of the 17th International Symposium on Algorithms and Experiments for Wireless Sensor Networks (ALGOSENSORS), Springer, 2021, pp. 29–44.

The Max-Line-Formation Problem – And New Insights for Gathering and Chain-Formation
J. Castenow, T. Götte, T. Knollmann, F. Meyer auf der Heide, in: C. Johnen, E.M. Schiller, S. Schmid (Eds.), Proceedings of the 23rd International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2021, Springer, 2021, pp. 289–304.