# Algorithm Examples

Some cannonical swarm algorithms are outlined in the articles below at length. They include the mathematical derivation, code implementation, and resulting video of the robotarium in action. These are intended to act as a blueprint to develop your own algorithms.

Rendezvous is a network control algorithm which allows a collection of robots to meet at at the centroid of their initial positions. This document is a mathematical companion to the rendezvous sample code for the Robotarium. It summarizes the mathematics behind the consensus algorithm and highlights the transfer of the formal specification to the Robotarium’s MATLAB API. Additionally, this document contains experimental data from the Robotarium’s robots and a video.

Formation control is a network control algorithm which allows a collection of robots to form and maintain a particular shape in a distributed manner. This document provides a mathematical derivation and an implementation of sample code to implement formation control for the Robotarium. It summarizes the mathematics behind a decentralized formation control algorithm and highlights the transfer of the formal specification to the Robotarium’s MATLAB API. Additionally, this document contains experimental data from the Robotarium’s robots and a video.