In this study, the electric sense is used for several modules evolving in formation. The objective is to constitute a formation with a given shape and/or to maintain this formation. It is possible to address these problems without explicit electro-location, i.e. without determination of the relative situation (position and orientation) between the agents. The idea is to directly control the formation (i.e. the relative situation ...) in the measurements space via a sensor based control approach. A methodology to define the control law based on experimental measurements and not on a model of electric sense will be developed and experimental results are presented.
