This paper describes a network-based swarm robotic system and proposes a group-based control scheme using bi-directional spring damper impedance. The proposed algorithm is based on the spring-damper impedance and fuzzy logic. Using the proposed scheme, each robot could overcome collision problems effectively and maintain the group formation structure. The structure of UMPC-based swarm robot (UBSR) system consists of a user level, a cognitive level, and an executive level. This structure is designed to easily meet the different configuration requirements for other levels. The simulation and experimental results show the advantages of the proposed scheme.