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Euraudax (original form of audax)
Participants in the original form of audax ride in a group, at a steady pace set by a road captain. The group aims to cycle at 22.5 km/h between stops. The route is planned with designated stopping points. In longer audax events the group may ride between 16 and 20 hours in a day before stopping at a designated sleeping location. The goal of the audax is for all group members to finish within the time limit. A support vehicle is allowed to follow each group of riders.

Randonneuring (allure libre form of audax)

Randonneuring is similar to the original Audax style in that riders attempt to complete long-distance cycling events. However, instead of riding together in a group, participants are free to cycle at their own pace (French: allure libre), stop or sleep wherever they want and form groups randomly, provided they stay within the time limit.

In some countries (e.g. USA), a clear distinction is drawn between 'Audax' and 'Randonneuring'. In others, such as Australia and Great Britain, the original Audax style is relatively unknown, and 'Audax' and 'Randonneuring' are used interchangeably.

https://en.wikipedia.org/wiki/Audax_(cycling)