Simplify the following text for a Grade 9 native English-speaking person.
Original: Queen + Paul Rodgers was a collaboration between Brian May and Roger Taylor of Queen and Paul Rodgers ( formerly of Bad Company , Free , The Firm and The Law ) .
Simplified: Queen + Paul Rodgers was a rock band formed by Brian May and Roger Taylor , formerly of Queen , and Paul Rodgers of Bad Company , Free and The Firm .