摘要： 提出了一种基于虚拟力的群机器人队形形成原理，提出了一种使用拟合法构建虚拟力模型的方法与使用，实验结果表明该方法可以快速、有效的完成队形分布，并指出了今后的研究方向。

Abstract: We introduce a framework of Formation control of Swarm robots based on Virtual force, we also extended the virtual force model to use Curve-fitting method. The experiment results show that the method can accomplish the formation control rapidly and efficiency. At last, the directions of further research are proposed.