Van Eden, BeatriceMaweni, ThabisaSetati, Cecil TNaidoo, Thegaran , Thegaran DickensDickens, John S2025-12-042025-12-042025-092261-236Xhttps://doi.org/10.1051/matecconf/202541704009http://hdl.handle.net/10204/14501Formation control is essential in multi-robot systems, enabling efficient navigation, coordination, and task execution in dynamic environments. This work presents a vision-based approach for formation following using three robots. Each robot is identified by a unique colour and recognised using YOLOv8. The recognition output is combined with LiDAR distance measurements to facilitate waypoint navigation and formation maintenance. A set of hardcoded rules ensures proper formation control. The proposed method is tested in a structured environment, demonstrating effective multi-robot coordination.FulltextenFormation controlMulti-robot systemsYOLOv8LiDARArticlen/a