This thesis proposes a novel approach to the problem of cooperative source seeking based on formation control. Two types of formation control - displacement based and distance based - are considered and adapted to different agent models. A Lyapunov stability analysis of the
proposed approach is given. The practicality of the method is demonstrated in simulation studies. In addition, the method has been validated experimentally by implementing a distance-based formation control scheme for source seeking by a group of wheeled robots.
