 Collocation Runge-Kutta method

Given distinct nodes $c_i$, a collocation Runge-Kutta method uses the Lagrange basis ${\ell }_j$ with $a_{ij}={\int }_0^{c_i}{\ell }_j(\tau )d\tau$ and $b_j={\int }_0^1{\ell }_j(\tau )d\tau$. Its stages enforce the differential equation at the collocation nodes.