Aiming at the special requirements in non-structural environment, a matrices shape formation approach for swarm robots is presented, which includes goal shape recognized based on mapping matrices and formation movement based on matrix elements, to adapt the versatility and flexibility of robots in complex tasks. Based on the similarity between the discretized crystal format group system and the matrix with discrete arrangement and symmetrical distribution of elements, during the process of pretreatment, the 2-D user-specific shape is binarized as a goal matrix, which is matched with the matrix of the initial shape. Through matrix mapping operations and the relative localization approach of the initial shape, the goal shape is recognized by swarm robots. During the process of formation movement, a movement rule to solve the problem of “where to go” and “how to go” is proposed according to the movement feature based on the matrix element and the formation carrier based on the lattice unit. Finally, the feasibility and validity of the matrix shape formation approach are verified by simulation experiments, and following the shape formation algorithm, after a novel modular robot is designed and a latticed formation platform for swarm robots is built, the nine latticed robots by two kinds of experiments are completed.