Flocking with Oblivious Robots

We propose a new self-stabilizing flocking algorithm for oblivious robot networks, and prove its correctness. With this algorithm, a flock head emerges from a uniform flock of robots, and the algorithm allows those robots to follow the head, whatever its direction on the plane. Robots are oblivious in that they do not recall the result of their previous computations and do not share a common coordinate system.