The paper proposes a model-independent coordination strategy for multi-agent formation control, focusing on maintaining a desired formation while the robots execute a given task. The main theorem states that under a bounded tracking error assumption, the method stabilizes the formation error. The approach is platform-independent and general enough to support various controllers. The authors demonstrate the effectiveness of the method by applying it to rigid body constrained motions, specifically triangular formations. They also discuss the addition of reactive obstacle avoidance terms to the control algorithms, allowing robots to navigate around obstacles while maintaining the formation. The paper concludes by highlighting the benefits of decoupling the coordination and tracking problems, making it easier to implement and control multiple robots in complex scenarios.The paper proposes a model-independent coordination strategy for multi-agent formation control, focusing on maintaining a desired formation while the robots execute a given task. The main theorem states that under a bounded tracking error assumption, the method stabilizes the formation error. The approach is platform-independent and general enough to support various controllers. The authors demonstrate the effectiveness of the method by applying it to rigid body constrained motions, specifically triangular formations. They also discuss the addition of reactive obstacle avoidance terms to the control algorithms, allowing robots to navigate around obstacles while maintaining the formation. The paper concludes by highlighting the benefits of decoupling the coordination and tracking problems, making it easier to implement and control multiple robots in complex scenarios.