Abstract: In this paper we propose an approach to formations of multiple mobile robots coordination based on praxeic utility theory. We show that praxeic utility theory is a viable solution to solve formation initialization problem, in which autonomous and coordinating mobile robots can arrange themselves in a specific spatial configuration to implement the tasks. We research mainly on control strategies and algorithm of formation coordination and present praxeic utility equations and two functions. Various extensions to the utility functions, which improve performance through knowledge of past decisions, is presented computer simulation shown that the approach is effective and feasible by the simulation of computer.