Leaderless Consensus Formation Control of Cooperative Multi-Agent Vehicles Without Velocity Measurements

We address the full-consensus problem for multiagent nonholonomic systems via output feedback. That is, consensus both in position and orientation considering the latter as the measured output. The controller is dynamic, but it does not rely on a velocity estimator, it relies on a dynamic extension that has a clear physical interpretation, as a mechanical system itself. Roughly speaking, it is shown that the consensus problem may be solved indirectly, by achieving consensus of the controllers themselves and, then, coupling each of these to each vehicle, via a virtual spring. Simulation tests are provided in the present manuscript to show the performance of our proposal.