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SUMMARYA distributed control mechanism for ground moving nonholonomic robots is proposed. It enables a group of mobile robots to autonomously manage formation shapes while navigating through environments with obstacles. The mechanism consists of two stages, with the first being formation control that allows basic formation shapes to be maintained without the need of any inter-robot communication. It is followed by obstacle avoidance, which is designed with maintaining the formation in mind.doi:10.1017/s0263574714002380 fatcat:pxolzlq2ffbcbp7qc4bhfrvcle