Abstract: This work addresses the formation problem of networks of mobile robots with evasion of collisions based on complex systems theory. In particular, formation of five differential mobile robots connected in star topology is presented, using the linearized and controllable model obtained by dynamic feedback of the kinematic model of a differential mobile robot. Different tracking trajectories are designed for the master mobile robot, achieving the tracking in the formation of a group of slave mobile robots avoiding collisions. Numerical and experimental results are provided.