In　the　method　of　formation　of　multi-agent,　Leader-Follower　control　is　a　widely　used　method,　the　algorithm　is　relatively　simple　and　easy　to　implementation　on　the　physical　robot,　but　most　of　the　Leader-Follower　control　methods　use　local　coordinates,　if　a　robot　failure,　the　overall　formation　would　be　affected.　of　the　effect　of　using　the　method　of　coordinate　transformation　to　transform　local　coordinates　into　global　coordinates,　and　optimize　the　fault-tolerance　and　stability　of　formation.