The field of cooperation and coordination of multi-robot systems has been object of considerable research efforts in the last years. The basic idea is that multi-robot systems can perform tasks more efficiently than a single robot or can accomplish tasks not executable by a single one. Moreover, multi-robot systems have advantages like increasing tolerance to possible vehicle fault, providing flexibility to the task execution or taking advantages of distributed sensing and actuation. The use of a platoon of vehicles is of interest in many applications, such as exploration of an unknown environment, navigation and formation control, demining, object transportation, up to playing team games (e.g., soccer); these may involve grounded, aerial, underwater or surface vehicles. A behavior-based approach, namely the Null-Space-based Behavioral approach (NSB), aimed at guiding a mobile robots platoon has been developed. The approach, using a hierarchy based logic to combine multiple conflicting tasks, is able to fulfill or partially fulfill each task according to their position in the hierarchy. The NSB has been extensively studied and simulated for different kind of vehicles (i.e. mobile robots, underwater robots and surface vessels) while achieving several formation control missions. Moreover, it has been extensively tested with a platoon of autonomous grounded vehicles made up of 7 Khepera II mobile robots (manufactured by K-Team) available at the University of Cassino.