Abstract：The synergic control and the formation reconstruction of multi-agents are studied in this paper. Artificial physics method is used for the formation establishment and holding of multi-agents. Artificial physics concerns a kind of distributed control strategy, which does not very much depend on the message of the sensor and communication. Multi-agents carry out the complex tasks by local cooperation. At the same time, artificial physics method is easy to be implemented in a giant system. By constructing the virtual physics force in the movement area of a robot, the speed and the direction of the robot are determined and used to drive the robot with time. In order to deal with the obstacle, a fuzzy controller with double inputs and single output is designed according to the wall-following strategy. One thus can make sure that mobile robot keeps a certain distance from the obstacle and goes along the obstacle. The orientation error can be reduced in this manner. The mode switching transient is restrained by the four point smoothing method. The information about the circumstance and the position of obstacle obtained by the sensor can be used to make the mode switch according to some conditions and to make the formation reconstruction. The results of the math simulation and the multi-agents cooperative control experiment in complex circumstances show that the method proposed in this paper enjoys good stability and adaptability.