Y. Q. Chen and Z. Wang, Formation control: a review and a new consideration, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3181-3186, 2005.

C. C. De-wit, H. Khennouf, C. Samson, and O. J. Sørdalen, Nonlinear control design for mobile robots, of Robotics and Automated Systems, ch. Recent Trends in Mobile Robots. Y. F. Zheng, 1993.

J. Huang, C. Wen, W. Wang, and Z. Jiang, Adaptive output feedback tracking control of a nonholonomic mobile robot, Automatica, vol.50, issue.3, pp.821-831, 2014.
DOI : 10.1016/j.automatica.2013.12.036

E. Vos, A. J. Van-der-schaft, and J. M. Scherpen, Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots, IEEE Transactions on Automatic Control, vol.61, issue.9, pp.2702-2707, 2016.
DOI : 10.1109/TAC.2015.2504547

A. Dong and J. A. Farrell, Cooperative Control of Multiple Nonholonomic Mobile Agents, IEEE Transactions on Automatic Control, vol.53, issue.6, pp.1434-1447, 2008.
DOI : 10.1109/TAC.2008.925852

T. Dierks and S. Jagannathan, Control of nonholonomic mobile robot formations: Backstepping kinematics into dynamics, IEEE International Conference on Control Applications, pp.94-99, 2007.

K. D. Do, Z. Jiang, and J. Pan, A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots, IEEE Transactions on Robotics and Automation, vol.20, issue.3, pp.589-594, 2004.
DOI : 10.1109/TRA.2004.825470

K. D. Do and J. Pan, Nonlinear formation control of unicycle-type mobile robots, Robotics and Autonomous Systems, vol.55, issue.3, pp.191-204, 2007.
DOI : 10.1016/j.robot.2006.09.001

X. Liang, Y. H. Liu, H. Wang, W. Chen, K. Xing et al., Leader-Following Formation Tracking Control of Mobile Robots Without Direct Position Measurements, IEEE Transactions on Automatic Control, vol.61, issue.12, pp.1-1, 2016.
DOI : 10.1109/TAC.2016.2547872

K. D. Do, Formation tracking control of unicycle-type mobile robots, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2391-2396, 2007.
DOI : 10.1109/ROBOT.2007.363677

Z. Lin, B. Francis, and M. Maggiore, Necessary and sufficient graphical conditions for formation control of unicycles, IEEE Trans. on Automat. Contr, vol.50, issue.1, pp.121-127, 2005.

D. Sun, C. Wang, W. Shang, and G. Feng, A synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations, IEEE Transactions on Robotics, vol.25, pp.1074-1086, 2009.

A. Loría, J. Dasdemir, and N. Alvarez-jarquin, Leader???Follower Formation and Tracking Control of Mobile Robots Along Straight Paths, IEEE Transactions on Control Systems Technology, vol.24, issue.2, pp.727-732, 2016.
DOI : 10.1109/TCST.2015.2437328

M. Maghenem, A. Loría, and E. Panteley, Lyapunov-based formation-tracking control of nonholonomic systems under persistency of excitation, IFAC NOLCOS 2016, p.2016
DOI : 10.1016/j.ifacol.2016.10.199

URL : https://hal.archives-ouvertes.fr/hal-01357287

E. Panteley, A. Loría, and A. Teel, Relaxed persistency of excitation for uniform asymptotic stability, IEEE Transactions on Automatic Control, vol.46, issue.12, pp.1874-1886, 2001.
DOI : 10.1109/9.975471

M. Malisoff and F. Mazenc, Constructions of Strict Lyapunov functions, 2009.
DOI : 10.1007/978-1-84882-535-2

URL : https://hal.archives-ouvertes.fr/hal-00858552

A. Loría, From feedback to cascade-interconnected systems: Breaking the loop, 2008 47th IEEE Conference on Decision and Control, pp.4109-4114, 2008.
DOI : 10.1109/CDC.2008.4738647