[{"department":[{"_id":"101"}],"user_id":"32655","_id":"60048","project":[{"grant_number":"453112019","_id":"106","name":"Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme"}],"status":"public","type":"book_chapter","doi":"10.1007/978-3-031-91736-3_19","main_file_link":[{"url":" ArXiv:2503.07576","open_access":"1"}],"author":[{"id":"32655","full_name":"Gerlach, Raphael","orcid":"0009-0002-4750-2051","last_name":"Gerlach","first_name":"Raphael"},{"orcid":"0000-0002-8054-2058","last_name":"von der Gracht","id":"97359","full_name":"von der Gracht, Sören","first_name":"Sören"},{"first_name":"Michael","last_name":"Dellnitz","full_name":"Dellnitz, Michael"}],"oa":"1","date_updated":"2025-05-27T08:22:42Z","citation":{"ieee":"R. Gerlach, S. von der Gracht, and M. Dellnitz, “On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies,” in <i>Lecture Notes in Computer Science</i>, Cham: Springer Nature Switzerland, 2025.","chicago":"Gerlach, Raphael, Sören von der Gracht, and Michael Dellnitz. “On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies.” In <i>Lecture Notes in Computer Science</i>. Cham: Springer Nature Switzerland, 2025. <a href=\"https://doi.org/10.1007/978-3-031-91736-3_19\">https://doi.org/10.1007/978-3-031-91736-3_19</a>.","ama":"Gerlach R, von der Gracht S, Dellnitz M. On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies. In: <i>Lecture Notes in Computer Science</i>. Springer Nature Switzerland; 2025. doi:<a href=\"https://doi.org/10.1007/978-3-031-91736-3_19\">10.1007/978-3-031-91736-3_19</a>","apa":"Gerlach, R., von der Gracht, S., &#38; Dellnitz, M. (2025). On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies. In <i>Lecture Notes in Computer Science</i>. Springer Nature Switzerland. <a href=\"https://doi.org/10.1007/978-3-031-91736-3_19\">https://doi.org/10.1007/978-3-031-91736-3_19</a>","bibtex":"@inbook{Gerlach_von der Gracht_Dellnitz_2025, place={Cham}, title={On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies}, DOI={<a href=\"https://doi.org/10.1007/978-3-031-91736-3_19\">10.1007/978-3-031-91736-3_19</a>}, booktitle={Lecture Notes in Computer Science}, publisher={Springer Nature Switzerland}, author={Gerlach, Raphael and von der Gracht, Sören and Dellnitz, Michael}, year={2025} }","mla":"Gerlach, Raphael, et al. “On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies.” <i>Lecture Notes in Computer Science</i>, Springer Nature Switzerland, 2025, doi:<a href=\"https://doi.org/10.1007/978-3-031-91736-3_19\">10.1007/978-3-031-91736-3_19</a>.","short":"R. Gerlach, S. von der Gracht, M. Dellnitz, in: Lecture Notes in Computer Science, Springer Nature Switzerland, Cham, 2025."},"place":"Cham","publication_identifier":{"issn":["0302-9743","1611-3349"],"isbn":["9783031917356","9783031917363"]},"publication_status":"published","language":[{"iso":"eng"}],"external_id":{"arxiv":["2503.07576"]},"publication":"Lecture Notes in Computer Science","title":"On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies","date_created":"2025-05-27T08:17:03Z","publisher":"Springer Nature Switzerland","year":"2025"},{"status":"public","editor":[{"first_name":"Silvia","full_name":"Bonomi, Silvia","last_name":"Bonomi"},{"first_name":"Letterio","last_name":"Galletta","full_name":"Galletta, Letterio"},{"last_name":"Rivière","full_name":"Rivière,  Etienne","first_name":" Etienne"},{"first_name":" Valerio","last_name":"Schiavoni","full_name":"Schiavoni,  Valerio"}],"type":"conference","department":[{"_id":"101"}],"series_title":"Leibniz International Proceedings in Informatics (LIPIcs)","user_id":"97359","_id":"56298","project":[{"_id":"106","name":"Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme","grant_number":"453112019"}],"intvolume":"       324","citation":{"ama":"Gerlach R, von der Gracht S, Hahn C, Harbig J, Kling P. Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility. In: Bonomi S, Galletta L, Rivière  Etienne, Schiavoni  Valerio, eds. <i>28th International Conference on Principles of Distributed Systems (OPODIS 2024)</i>. Vol 324. Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl -- Leibniz-Zentrum für Informatik; 2025. doi:<a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2024.13\">10.4230/LIPIcs.OPODIS.2024.13</a>","chicago":"Gerlach, Raphael, Sören von der Gracht, Christopher Hahn, Jonas Harbig, and Peter Kling. “Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility.” In <i>28th International Conference on Principles of Distributed Systems (OPODIS 2024)</i>, edited by Silvia Bonomi, Letterio Galletta,  Etienne Rivière, and  Valerio Schiavoni, Vol. 324. Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl -- Leibniz-Zentrum für Informatik, 2025. <a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2024.13\">https://doi.org/10.4230/LIPIcs.OPODIS.2024.13</a>.","ieee":"R. Gerlach, S. von der Gracht, C. Hahn, J. Harbig, and P. Kling, “Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility,” in <i>28th International Conference on Principles of Distributed Systems (OPODIS 2024)</i>, Lucca, Italy, 2025, vol. 324, doi: <a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2024.13\">10.4230/LIPIcs.OPODIS.2024.13</a>.","apa":"Gerlach, R., von der Gracht, S., Hahn, C., Harbig, J., &#38; Kling, P. (2025). Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility. In S. Bonomi, L. Galletta,  Etienne Rivière, &#38;  Valerio Schiavoni (Eds.), <i>28th International Conference on Principles of Distributed Systems (OPODIS 2024)</i> (Vol. 324). Schloss Dagstuhl -- Leibniz-Zentrum für Informatik. <a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2024.13\">https://doi.org/10.4230/LIPIcs.OPODIS.2024.13</a>","short":"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.","bibtex":"@inproceedings{Gerlach_von der Gracht_Hahn_Harbig_Kling_2025, series={Leibniz International Proceedings in Informatics (LIPIcs)}, title={Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility}, volume={324}, DOI={<a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2024.13\">10.4230/LIPIcs.OPODIS.2024.13</a>}, booktitle={28th International Conference on Principles of Distributed Systems (OPODIS 2024)}, publisher={Schloss Dagstuhl -- Leibniz-Zentrum für Informatik}, author={Gerlach, Raphael and von der Gracht, Sören and Hahn, Christopher and Harbig, Jonas and Kling, Peter}, editor={Bonomi, Silvia and Galletta, Letterio and Rivière,  Etienne and Schiavoni,  Valerio}, year={2025}, collection={Leibniz International Proceedings in Informatics (LIPIcs)} }","mla":"Gerlach, Raphael, et al. “Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility.” <i>28th International Conference on Principles of Distributed Systems (OPODIS 2024)</i>, edited by Silvia Bonomi et al., vol. 324, Schloss Dagstuhl -- Leibniz-Zentrum für Informatik, 2025, doi:<a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2024.13\">10.4230/LIPIcs.OPODIS.2024.13</a>."},"publication_identifier":{"isbn":["978-3-95977-360-7"],"issn":["1868-8969"]},"publication_status":"published","doi":"10.4230/LIPIcs.OPODIS.2024.13","conference":{"name":"28th International Conference on Principles of Distributed Systems (OPODIS 2024)","start_date":"2024-12-11","end_date":"2024-12-13","location":"Lucca, Italy"},"main_file_link":[{"open_access":"1","url":"https://arxiv.org/abs/2409.19277"}],"volume":324,"author":[{"full_name":"Gerlach, Raphael","id":"32655","last_name":"Gerlach","orcid":"0009-0002-4750-2051","first_name":"Raphael"},{"orcid":"0000-0002-8054-2058","last_name":"von der Gracht","id":"97359","full_name":"von der Gracht, Sören","first_name":"Sören"},{"last_name":"Hahn","full_name":"Hahn, Christopher","first_name":"Christopher"},{"first_name":"Jonas","id":"47213","full_name":"Harbig, Jonas","last_name":"Harbig"},{"first_name":"Peter","full_name":"Kling, Peter","last_name":"Kling"}],"date_updated":"2025-01-09T11:39:19Z","oa":"1","abstract":[{"text":"In the general pattern formation (GPF) problem, a swarm of simple autonomous,\r\ndisoriented robots must form a given pattern. The robots' simplicity imply a\r\nstrong limitation: When the initial configuration is rotationally symmetric,\r\nonly patterns with a similar symmetry can be formed [Yamashita, Suzyuki; TCS\r\n2010]. The only known algorithm to form large patterns with limited visibility\r\nand without memory requires the robots to start in a near-gathering (a swarm of\r\nconstant diameter) [Hahn et al.; SAND 2024]. However, not only do we not know\r\nany near-gathering algorithm guaranteed to preserve symmetry but most natural\r\ngathering strategies trivially increase symmetries [Castenow et al.; OPODIS\r\n2022].\r\n  Thus, we study near-gathering without changing the swarm's rotational\r\nsymmetry for disoriented, oblivious robots with limited visibility (the\r\nOBLOT-model, see [Flocchini et al.; 2019]). We introduce a technique based on\r\nthe theory of dynamical systems to analyze how a given algorithm affects\r\nsymmetry and provide sufficient conditions for symmetry preservation. Until\r\nnow, it was unknown whether the considered OBLOT-model allows for any\r\nnon-trivial algorithm that always preserves symmetry. Our first result shows\r\nthat a variant of Go-to-the-Average always preserves symmetry but may sometimes\r\nlead to multiple, unconnected near-gathering clusters. Our second result is a\r\nsymmetry-preserving near-gathering algorithm that works on swarms with a convex\r\nboundary (the outer boundary of the unit disc graph) and without holes (circles\r\nof diameter 1 inside the boundary without any robots).","lang":"eng"}],"publication":"28th International Conference on Principles of Distributed Systems (OPODIS 2024)","language":[{"iso":"eng"}],"keyword":["Swarm Algorithm","Swarm Robots","Distributed Algorithm","Pattern Formation","Limited Visibility","Oblivious"],"external_id":{"arxiv":["2409.19277"]},"year":"2025","title":"Symmetry Preservation in Swarms of Oblivious Robots with Limited  Visibility","date_created":"2024-10-01T13:29:43Z","publisher":"Schloss Dagstuhl -- Leibniz-Zentrum für Informatik"},{"author":[{"first_name":"Raphael","last_name":"Gerlach","orcid":"0009-0002-4750-2051","full_name":"Gerlach, Raphael","id":"32655"},{"first_name":"Sören","full_name":"von der Gracht, Sören","id":"97359","orcid":"0000-0002-8054-2058","last_name":"von der Gracht"}],"date_updated":"2025-03-11T08:53:02Z","oa":"1","page":"23","citation":{"apa":"Gerlach, R., &#38; von der Gracht, S. (2025). Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems. In <i>arXiv:2503.07576</i>.","mla":"Gerlach, Raphael, and Sören von der Gracht. “Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems.” <i>ArXiv:2503.07576</i>, 2025.","bibtex":"@article{Gerlach_von der Gracht_2025, title={Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems}, journal={arXiv:2503.07576}, author={Gerlach, Raphael and von der Gracht, Sören}, year={2025} }","short":"R. Gerlach, S. von der Gracht, ArXiv:2503.07576 (2025).","chicago":"Gerlach, Raphael, and Sören von der Gracht. “Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems.” <i>ArXiv:2503.07576</i>, 2025.","ieee":"R. Gerlach and S. von der Gracht, “Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems,” <i>arXiv:2503.07576</i>. 2025.","ama":"Gerlach R, von der Gracht S. Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems. <i>arXiv:250307576</i>. Published online 2025."},"has_accepted_license":"1","file_date_updated":"2025-03-11T08:27:32Z","department":[{"_id":"101"}],"user_id":"97359","_id":"58953","project":[{"grant_number":"453112019","name":"Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme","_id":"106"}],"status":"public","type":"preprint","title":"Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant  Dynamical Systems","date_created":"2025-03-11T08:21:05Z","year":"2025","language":[{"iso":"eng"}],"keyword":["dynamical systems","coupled systems","distributed computing","robot swarms","autonomous mobile robots","symmetry","equivariant dynamics"],"ddc":["004"],"external_id":{"arxiv":["2503.07576"]},"file":[{"file_size":812198,"file_id":"58954","access_level":"open_access","file_name":"Analyzing_Symmetries_of_Swarms_of_Mobile_Robots_Using_Equivariant_Dynamical_Systems.pdf","date_updated":"2025-03-11T08:27:32Z","creator":"svdg","date_created":"2025-03-11T08:27:32Z","relation":"main_file","content_type":"application/pdf"}],"abstract":[{"lang":"eng","text":"In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of n robots in the OBLOT model and analyze their collective Fsync dynamics using of equivariant dynamical systems theory. To this end, we show that the corresponding evolution function commutes with rotational and reflective transformations of R^2. These form a group that is isomorphic to O(2) x S_n, the product group of the orthogonal group and the permutation on n elements. The theory of equivariant dynamical systems is used to deduce a hierarchy along which symmetries of a robot swarm can potentially increase following an arbitrary protocol. By decoupling the Look phase from the Compute and Move phases in the mathematical description of an LCM cycle, this hierarchy can be characterized in terms of automorphisms of connectivity graphs. In particular, we find all possible types of symmetry increase, if the decoupled Compute and Move phase is invertible. Finally, we apply our results to protocols which induce state-dependent linear dynamics, where the reduced system consisting of only the Compute and Move phase is linear."}],"publication":"arXiv:2503.07576"},{"external_id":{"arxiv":["2010.04424 "]},"keyword":["General Computer Science","Theoretical Computer Science"],"language":[{"iso":"eng"}],"publication":"Theoretical Computer Science","publisher":"Elsevier BV","date_created":"2022-10-28T05:11:16Z","title":"Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation","year":"2023","project":[{"_id":"106","name":"Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme"}],"_id":"33947","user_id":"38705","department":[{"_id":"63"}],"article_type":"original","type":"journal_article","status":"public","date_updated":"2023-01-30T09:20:09Z","author":[{"first_name":"Jannik","last_name":"Castenow","id":"38705","full_name":"Castenow, Jannik"},{"first_name":"Jonas","last_name":"Harbig","full_name":"Harbig, Jonas","id":"47213"},{"first_name":"Daniel","last_name":"Jung","full_name":"Jung, Daniel","id":"37827"},{"first_name":"Till","id":"39241","full_name":"Knollmann, Till","last_name":"Knollmann","orcid":"0000-0003-2014-4696"},{"full_name":"Meyer auf der Heide, Friedhelm","id":"15523","last_name":"Meyer auf der Heide","first_name":"Friedhelm"}],"volume":939,"doi":"10.1016/j.tcs.2022.10.031","publication_status":"published","publication_identifier":{"issn":["0304-3975"]},"citation":{"ama":"Castenow J, Harbig J, Jung D, Knollmann T, Meyer auf der Heide F. Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation. <i>Theoretical Computer Science</i>. 2023;939:261-291. doi:<a href=\"https://doi.org/10.1016/j.tcs.2022.10.031\">10.1016/j.tcs.2022.10.031</a>","chicago":"Castenow, Jannik, Jonas Harbig, Daniel Jung, Till Knollmann, and Friedhelm Meyer auf der Heide. “Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation.” <i>Theoretical Computer Science</i> 939 (2023): 261–91. <a href=\"https://doi.org/10.1016/j.tcs.2022.10.031\">https://doi.org/10.1016/j.tcs.2022.10.031</a>.","ieee":"J. Castenow, J. Harbig, D. Jung, T. Knollmann, and F. Meyer auf der Heide, “Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation,” <i>Theoretical Computer Science</i>, vol. 939, pp. 261–291, 2023, doi: <a href=\"https://doi.org/10.1016/j.tcs.2022.10.031\">10.1016/j.tcs.2022.10.031</a>.","bibtex":"@article{Castenow_Harbig_Jung_Knollmann_Meyer auf der Heide_2023, title={Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation}, volume={939}, DOI={<a href=\"https://doi.org/10.1016/j.tcs.2022.10.031\">10.1016/j.tcs.2022.10.031</a>}, journal={Theoretical Computer Science}, publisher={Elsevier BV}, author={Castenow, Jannik and Harbig, Jonas and Jung, Daniel and Knollmann, Till and Meyer auf der Heide, Friedhelm}, year={2023}, pages={261–291} }","short":"J. Castenow, J. Harbig, D. Jung, T. Knollmann, F. Meyer auf der Heide, Theoretical Computer Science 939 (2023) 261–291.","mla":"Castenow, Jannik, et al. “Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation.” <i>Theoretical Computer Science</i>, vol. 939, Elsevier BV, 2023, pp. 261–91, doi:<a href=\"https://doi.org/10.1016/j.tcs.2022.10.031\">10.1016/j.tcs.2022.10.031</a>.","apa":"Castenow, J., Harbig, J., Jung, D., Knollmann, T., &#38; Meyer auf der Heide, F. (2023). Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for Chain-Formation. <i>Theoretical Computer Science</i>, <i>939</i>, 261–291. <a href=\"https://doi.org/10.1016/j.tcs.2022.10.031\">https://doi.org/10.1016/j.tcs.2022.10.031</a>"},"page":"261-291","intvolume":"       939"},{"publication":"Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) ","language":[{"iso":"eng"}],"external_id":{"arxiv":["2206.07567 "]},"year":"2023","title":"A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility ","publisher":"Schloss Dagstuhl – Leibniz Zentrum für Informatik","date_created":"2022-11-04T09:41:30Z","editor":[{"first_name":"Eshcar","last_name":"Hillel","full_name":"Hillel, Eshcar"},{"last_name":"Palmieri","full_name":"Palmieri, Roberto","first_name":"Roberto"},{"full_name":"Riviére, Etienne","last_name":"Riviére","first_name":"Etienne"}],"status":"public","type":"conference","_id":"34008","project":[{"name":"Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme","_id":"106"}],"department":[{"_id":"63"}],"user_id":"38705","series_title":"Leibniz International Proceedings in Informatics (LIPIcs)","place":"Brussels","intvolume":"       253","page":"15:1–15:25","citation":{"chicago":"Castenow, Jannik, Jonas Harbig, Daniel Jung, Peter Kling, Till Knollmann, and Friedhelm Meyer auf der Heide. “A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility .” In <i>Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) </i>, edited by Eshcar Hillel, Roberto Palmieri, and Etienne Riviére, 253:15:1–15:25. Leibniz International Proceedings in Informatics (LIPIcs). Brussels: Schloss Dagstuhl – Leibniz Zentrum für Informatik, 2023. <a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2022.15\">https://doi.org/10.4230/LIPIcs.OPODIS.2022.15</a>.","ieee":"J. Castenow, J. Harbig, D. Jung, P. Kling, T. Knollmann, and F. Meyer auf der Heide, “A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility ,” in <i>Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) </i>, Brussels, 2023, vol. 253, p. 15:1–15:25, doi: <a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2022.15\">10.4230/LIPIcs.OPODIS.2022.15</a>.","ama":"Castenow J, Harbig J, Jung D, Kling P, Knollmann T, Meyer auf der Heide F. A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility . In: Hillel E, Palmieri R, Riviére E, eds. <i>Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) </i>. Vol 253. Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl – Leibniz Zentrum für Informatik; 2023:15:1–15:25. doi:<a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2022.15\">10.4230/LIPIcs.OPODIS.2022.15</a>","apa":"Castenow, J., Harbig, J., Jung, D., Kling, P., Knollmann, T., &#38; Meyer auf der Heide, F. (2023). A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility . In E. Hillel, R. Palmieri, &#38; E. Riviére (Eds.), <i>Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) </i> (Vol. 253, p. 15:1–15:25). Schloss Dagstuhl – Leibniz Zentrum für Informatik. <a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2022.15\">https://doi.org/10.4230/LIPIcs.OPODIS.2022.15</a>","mla":"Castenow, Jannik, et al. “A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility .” <i>Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) </i>, edited by Eshcar Hillel et al., vol. 253, Schloss Dagstuhl – Leibniz Zentrum für Informatik, 2023, p. 15:1–15:25, doi:<a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2022.15\">10.4230/LIPIcs.OPODIS.2022.15</a>.","bibtex":"@inproceedings{Castenow_Harbig_Jung_Kling_Knollmann_Meyer auf der Heide_2023, place={Brussels}, series={Leibniz International Proceedings in Informatics (LIPIcs)}, title={A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility }, volume={253}, DOI={<a href=\"https://doi.org/10.4230/LIPIcs.OPODIS.2022.15\">10.4230/LIPIcs.OPODIS.2022.15</a>}, booktitle={Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) }, publisher={Schloss Dagstuhl – Leibniz Zentrum für Informatik}, author={Castenow, Jannik and Harbig, Jonas and Jung, Daniel and Kling, Peter and Knollmann, Till and Meyer auf der Heide, Friedhelm}, editor={Hillel, Eshcar and Palmieri, Roberto and Riviére, Etienne}, year={2023}, pages={15:1–15:25}, collection={Leibniz International Proceedings in Informatics (LIPIcs)} }","short":"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."},"publication_identifier":{"issn":["1868-8969"],"isbn":["978-3-95977-265-5"]},"publication_status":"published","conference":{"end_date":"2022-12-15","location":"Brussels","name":"26th International Conference on Principles of Distributed Systems (OPODIS)","start_date":"2022-12-13"},"doi":"10.4230/LIPIcs.OPODIS.2022.15","date_updated":"2023-02-15T14:53:12Z","volume":253,"author":[{"last_name":"Castenow","full_name":"Castenow, Jannik","id":"38705","first_name":"Jannik"},{"id":"47213","full_name":"Harbig, Jonas","last_name":"Harbig","first_name":"Jonas"},{"first_name":"Daniel","last_name":"Jung","id":"37827","full_name":"Jung, Daniel"},{"last_name":"Kling","full_name":"Kling, Peter","first_name":"Peter"},{"id":"39241","full_name":"Knollmann, Till","last_name":"Knollmann","orcid":"0000-0003-2014-4696","first_name":"Till"},{"first_name":"Friedhelm","full_name":"Meyer auf der Heide, Friedhelm","id":"15523","last_name":"Meyer auf der Heide"}]},{"year":"2023","place":"Cham","citation":{"apa":"Castenow, J., Harbig, J., &#38; Meyer auf der Heide, F. 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