The tetrahedral design with the ability to change side lengths and to reconfigure allows for extreme versatility. A system could be reorganized upon reaching an obstacle, allowing the swarm to cross the obstacle. This system could be effective in crossing challenging terrain, where a wheeled robot could not. A system like this could have benefits in disaster relief, allowing robots to search in collapsed buildings. The goal of this project is to design a simulation to simulate the robots and to make a robot to prove that the simulation is not terribly flawed. The other main goal of the project is to design control algorithms to allow the robots in the simulation to work together to achieve tasks. In this project I designed a Unity 3D simulation of the robots, this allowed me to quickly run tests of the robots and to develop without constraints of real robots. In this project I also used build a real robot to prove the accuracy of the simulation. This robot consists of six servo linear actuators and is controlled by a servo control board attached to a Raspberry Pi. In this project I was able to develop a program to simulate and control tetrahedral robots. In this simulation the robots are able to connect to groups containing tens of members with all of their sides being controlled. They are able to navigate on their own and can move as small groups. This project has applications in its organizational structure for large groups of tetrahedral robots. This system can be used in difficult or changing terrain and allows for great flexibility. In the future I plan to open source the code for the project, along with a write up for its use. This would allow for other people to use the code and build on it to make the system even better.