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Cord-Landwehr, Andreas, Bastian Degener, Matthias Fischer, Martina Hüllmann, Barbara Kempkes, Alexander Klaas, Peter Kling, et al. “A New Approach for Analyzing Convergence Algorithms for Mobile Robots.”https://doi.org/10.1007/978-3-642-22012-8_52__In Automata, Languages and Programming. Berlin, Heidelberg, 2011.https://doi.org/10.1007/978-3-642-22012-8_52 .