6.006 Introduction to Algorithms (Fall 2011, MIT OCW). Taught by Professor Erik Demaine and Professor Srinivas Devadas, this course provides an introduction to mathematical modeling of computational problems. It covers the common algorithms, algorithmic paradigms, and data structures used to solve these problems. The course emphasizes the relationship between algorithms and programming, and introduces basic performance measures and analysis techniques for these problems.
(from ocw.mit.edu)
Lecture 17 - Bellman-Ford
This lecture reviews shortest path notation, considers a generic shortest path algorithm, and then describes and proves the Bellman-Ford algorithm, which can handle graphs with negative cycles.