Abstract
A group of mobile agents, identical, anonymous, and oblivious (memoryless), able to sense only the direction (bearing) to neighboring agents within a finite visibility range, are shown to gather to a meeting point, in finite time, by applying a very simple rule of motion. The agents act in continuous time, and their rule of motion is as follows: they determine the smallest visibility disk sector in which all their visible neighbors reside. If this disk sector spans an angle smaller than $$\pi $$ , then they set the velocity vector to be the sum of the two unit vectors in $${\mathbb {R}}^2$$ pointing to the extremal neighbors. Otherwise, they do not move. If the initial constellation of agents has a visibility graph that is connected, we prove that the agents gather to a common meeting point in finite time.
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