Leader-Follower Consensus of Unicycles With Communication Range Constraints via Smooth Time-Invariant Feedback

We solve the full-consensus problem (in position and orientation) with connectivity maintenance for multiple nonholonomic vehicles in a leader-follower configuration. rely on polar-coordinates based model which is more natural setting. The proposed control law smooth domain of definition) time-invariant uses only relative measurements, making it suited implementation. establish asymptotic convergence to consensus manifold as well using Lyapunov's first method cascaded systems theory. In addition, we illustrate our theoretical contributions experimentally.