Large collections of robots have the potential to perform tasks collectively using distributed control algorithms. These algorithms require communication between robots to allow the robots to coordinate their behavior and act as a collective. In this paper we describe two algorithms which allow coordination between robots, but do not require physical environment marks such as pheromones. Instead, these algorithms rely on simple, local, low-bandwidth, direct communication between robots. We describe the algorithms and measure their performance in worlds with and without obstacles.978-1-4244-9318-0/10/$26.00