The problem of formation control of a team of mobile

robots based on the virtual and behavioral structures is considered

in this paper. In the virtual structure, each mobile robot ismodeled

by an electric charge. The mobile robots move toward a circle,

and due to repulsive forces between the identical charges, regular

polygon formations of the mobile robots will be realized. For

swarm formation, a virtual mobile robot is located at the center

of the circle, and other mobile robots follow it. In the introduced

approach, each mobile robot finds its position in the formation