This paper proposes a formation control algorithm to create separated multiple formations for an undirected networked multi-agent system while preserving the network connectivity and avoiding collision among agents. Through the modified multi-consensus technique. the proposed algorithm can simultaneously divide a group of multiple agents into any arbitrary number of desired formations... https://www.jungleoasisplayground.com/product-category/food-servicecommercial-kitchen-equipmentfood-preparation-equipmentother-commercial-food-prep/