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In order to achieve formation control, an individual robot adopts the motor schema-based architecture and four primitive behaviors are introduced including: move to goal, keep formation, avoid static obstacle and avoid robot behavior. The behavioral decision to direct the movement of robots is made by the combination of primitive behaviors. The genetic algorithm is used in this paper to solve the problem of selecting control parameters that underlie the behaviors because of its difficulty. The simulation results obtained testify the feasibility of the proposed approach.