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.).

A continuous strategy for collisionless gathering
S. Li, C. Markarian, F. Meyer auf der Heide, P. Podlipyan, Theoretical Computer Science 852 (2021) 41–60.

The impact of the Gabriel subgraph of the visibility graph on the gathering of mobile autonomous robots
S. Li, F. Meyer auf der Heide, P. Podlipyan, Theoretical Computer Science 852 (2021) 29–40.