The Rendezvous archive contains the necessary code for the Rendezvous algorithm demonstrated in the ICRA 2013 paper. Inside the archive are two projects, Beacon and Node. The Beacon project is used for the central beacon - flash one robot with this code and place in the center. The Node project can be flashed on as many boards as desired, since the radio stack used is heavily simplified and does not depend on addressing restriction.
The ProportionalInertialLocomotion archive contains the workspace for demonstrating locomotion using feedback from the gyroscope on the inertial sensor board. This project contains files from TI, so a diff is provided. The I2C code can be obtained from TI's RemoTI distribution and then patched to work with our code. This archive only requires one robot.
All instructions for our software are provided herein. Please see Texas Instruments' hardware guide to set up a computer that can flash the base RF board, using the CC debugger. Users will likely want to purchase a debugger, create a breakout board using the Gerber files in the TinyTeRP Hardware page, and attach the completed Base RF Board to their computer using these. The compiler and software debugging solution used by the TinyTeRPs team is IAR System's Embedded Workbench for 8051; however, other compilers could be used if desired and the resulting executables could be independently flashed to the CC2533 chip.
Note that all software provided here is licensed under the Apache License 2.0; however, utilizing TI's libraries requires agreeing to their license for their freely-distributed software, available here in TI-NOTICE.