In this talk, I will present nonlinear control laws are to achieve translationally invariant formations with attitude synchronization for a network of nonholonomic mobile inverted pendulum (MIP) robots using an undirected connected communication topology. Using the first protocol, the robots achieve a specified geometric pattern while the orientation and heading velocities of the robots are synchronized to prespecified values. In the second protocol, the robots move into a formation and follow a time-varying reference attitude and heading velocity. Both the protocols guarantee boundedness of the linear heading velocity. The proposed control laws are experimentally validated on indigenously built MIP robots.