  Collective motion is one of the most fascinating phenomena observed in the
nature. In the last decade, it aroused so much attention in physics, control
and robotics fields. In particular, many studies have been done in swarm
robotics related to collective motion, also called flocking. In most of these
studies, robots use orientation and proximity of their neighbors to achieve
collective motion. In such an approach, one of the biggest problems is to
measure orientation information using on-board sensors. In most of the studies,
this information is either simulated or implemented using communication. In
this paper, to the best of our knowledge, we implemented a fully autonomous
coordinated motion without alignment using very simple Mona robots. We used an
approach based on Active Elastic Sheet (AES) method. We modified the method and
added the capability to enable the swarm to move toward a desired direction and
rotate about an arbitrary point. The parameters of the modified method are
optimized using TCACS optimization algorithm. We tested our approach in
different settings using Matlab and Webots.
