Ozdemir, Anil Gathering on a Grid Supplementary material for multi-agent gathering on a grid robotics;swarm;minimal control;reactive control;decentral control;Adaptive Agents and Intelligent Robotics;Control Systems, Robotics and Automation 2019-10-24
    https://orda.shef.ac.uk/articles/media/Gathering_on_a_Grid/9896843
10.15131/shef.data.9896843.v1