Text this: Development of multi-robot system : coordination and formation

  ____      _____   __    __   _    _     _  _   
 |  _ \\   |  ___|| \ \\ / // | || | ||  | \| || 
 | |_| ||  | ||__    \ \/ //  | || | ||  |  ' || 
 | .  //   | ||__     \  //   | \\_/ ||  | .  || 
 |_|\_\\   |_____||    \//     \____//   |_|\_|| 
 `-` --`   `-----`      `       `---`    `-` -`