Multi robot system is gaining more attention in research. Achieving coordination among the group of mobile robots leads to a complex task. When it comes to cost estimation and simplicity for certain real-time applications like search and rescue in disasters (such as earthquakes), security purposes, defense etc... A group of robots working in formation can have advantages such as ability to cover a search area. This research is inspired from the flocking behavior of birds; the research mainly focuses on distributed control of three robots moving together in a triangular format. Among the three robots there is a lead robot which follows a defined path and the remaining robots follow the lead robot. The algorithm proposed here is simulated for mobile wheeled robots along with the collision avoidance. The model of the robot utilized is the bicycle model. The proposed robots flocking behavior and formation are implemented and simulated using MATLAB software
