R. R. Olfati-saber and R. M. Murray, Consensus problems in networks of agents with switching topology and time-delays, IEEE Transactions on Automatic Control, vol.49, issue.9, pp.1520-1533, 2004.

W. Ren, R. W. Beard, and E. M. Atkins, A survey of consensus problems in multi-agent coordination, Proc. of the American Control Conference, pp.1859-1864, 2005.

E. Kranakis, D. Krizanc, and S. Rajsbaum, Mobile agent rendezvous: A survey, Structural Information and Communication Complexity, pp.1-9, 2006.

Q. Hui, Finite-time rendezvous algorithms for mobile autonomous agents, IEEE Transactions on Automatic Control, vol.56, issue.1, pp.207-211, 2011.

E. Nuño, R. Ortega, L. Basañez, and D. Hill, Synchronization of networks of nonidentical Euler-Lagrange systems with uncertain parameters and communication delays, IEEE Transactions on Automatic Control, vol.56, issue.4, pp.935-941, 2011.

E. Nuño, I. Sarras, and L. Basañez, Consensus in networks of nonidentical Euler-Lagrange systems using P+d controllers, IEEE Transactions on Robotics, vol.26, issue.6, pp.1503-1508, 2013.

E. Panteley, A. Loría, and A. E. Ati, On the analysis and control design for networked stuart-landau oscillators with applications to neuronal populations, Proc. of the 54th. IEEE Conf. on Decision Control, 2015.

J. Cortés, S. Martínez, and F. Bullo, Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions, IEEE Transactions on Automatic Control, vol.51, issue.8, pp.1289-1298, 2006.

L. Moreau, Stability of continuous-time distributed consensus algorithms, Proc. of the 43rd. IEEE Conf. on Decision and Control, vol.4, pp.3998-4003, 2004.

G. Ferrari-trecate, M. Egerstedt, A. Buffa, and M. Ji, Laplacian sheep: A hybrid, stop-go policy for leader-based containment control, Hybrid Systems: Computation and Control, pp.212-226, 2006.

G. Lafferriere, A. Williams, J. Caughman, and J. Veerman, Decentralized control of vehicle formations, Systems & control letters, vol.54, issue.9, pp.899-910, 2005.

R. Olfati-saber, Flocking for multi-agent dynamic systems: Algorithms and theory, IEEE Transactions on Automatic Control, vol.51, issue.3, pp.401-420, 2006.

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

D. V. Dimarogonas and K. J. Kyriakopoulos, On the rendezvous problem for multiple nonholonomic agents, IEEE Transactions on Automatic Control, vol.52, issue.5, pp.916-922, 2007.

Z. Peng, G. Wen, A. Rahmani, and Y. Yu, Distributed consensusbased formation control for multiple nonholonomic mobile robots with a specified reference trajectory, International Journal of Systems Science, vol.46, issue.8, pp.1447-1457, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01294333

A. Bautista-castillo, C. Lopez-franco, and E. Nuno, Consensus-based formation control for multiple nonholonomic robots, Accepted in 2016 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC), 2016.

C. Yang, W. Xie, C. Lei, and B. Ma, Smooth time-varying formation control of multiple nonholonomic agents, Proc. of the 2015 Chinese Intelligent Systems Conference, pp.283-291, 2016.

W. Dong and J. A. Farrell, Consensus of multiple nonholonomic systems, Proc. of the 47th IEEE Conf. on Decision and Control, pp.2270-2275, 2008.

A. Ajorlou, M. Asadi, A. G. Aghdam, and S. Blouin, Distributed consensus control of unicycle agents in the presence of external disturbances, Systems & Control Letters, vol.82, pp.86-90, 2015.

H. A. Poonawala, A. C. Satici, H. Eckert, and M. W. Spong, Collisionfree formation control with decentralized connectivity preservation for nonholonomic-wheeled mobile robots, IEEE Transactions on Control of Network Systems, vol.2, pp.122-130, 2015.

A. Loría, E. Panteley, and A. Teel, A new persistency-of-excitation condition for UGAS of NLTV systems: Application to stabilization of nonholonomic systems, Proc. of the 5th. European Control Conf., (Karlsrühe, pp.1363-1368, 1999.

A. Loría, E. Panteley, and K. Melhem, UGAS of skew-symmetric timevarying systems: application to stabilization of chained form systems, European Journal of Control, vol.8, issue.1, pp.33-43, 2002.

Y. Wang, Z. Miao, H. Zhong, and Q. Pan, Simultaneous stabilization and tracking of nonholonomic mobile robots: A lyapunov-based approach, IEEE Transactions on Control Systems Technology, vol.23, pp.1440-1450, 2015.

M. Maghenem, A. Bautista-castillo, E. Nuño, A. Loría, and E. Panteley, Consensus-based formation control of nonholonomic robots using a strict Lyapunov function, Presented at IFAC World Congress, vol.50, pp.2439-2444, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01744950

M. Maghenem, Stability and stabilization of networked varying systems, 2017.

F. Mazenc, Strict Lyapunov functions for time-varying systems, Automatica, vol.39, issue.2, pp.349-353, 2003.
URL : https://hal.archives-ouvertes.fr/hal-00857803

M. Malisoff and F. Mazenc, Constructions of Strict Lyapunov functions, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00858552

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.

M. Maghenem, A. Loría, and E. Panteley, A robust ?-persistently exciting controller for leader-follower tracking-agreement of multiple vehicles, European Journal of Control, vol.40, pp.1-12, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01744639

M. Maghenem and A. Loría, Strict Lyapunov functions for time-varying systems with persistency of excitation, Automatica, vol.78, pp.274-279, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01744598

A. Loría, E. Panteley, D. Popovi?, and A. Teel, A nested Matrosov theorem and persistency of excitation for uniform convergence in stable non-autonomous systems, IEEE Transactions on Automatic Control, vol.50, issue.2, pp.183-198, 2005.

B. Kim and P. Tsiotras, Controllers for unicycle-type wheeled robots: Theoretical results and experimental validation, IEEE Transactions on Robotics and Automation, vol.18, issue.3, pp.294-307, 2002.