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Abstract——Collective of Robots can perform complicated tasks that are beyond the capabilities of individual. The ability of such a collective to do tasks efficiently is because of its characteristic to form different shapes. In this paper, we present a Hybrid control method called Self-Assembly (SA), which will enable the collective to maintain the desired shape. This control mechanism will allow the robots to form different shapes with robustness and will provide the efficient techniques to counter Localization, Formation and Communication problems of the collective swarm.