For a team to collaborate more effectively it is often beneficial for its members to assume a formation. For example, a team of rescuers forming a line to quickly cover an area; a group of ploughs forming a wedge to level terrain. This project’s focus is on the development of bearing-only pattern formation algorithms which do not require robots to be uniquely identifiable to each other (i.e. they are anonymous). The use of anonymous, bearing-only inputs to the algorithm reduces the computational and sensory requirements of the robotic platform running the algorithm.