# Global Consensus-Based Formation Control of Nonholonomic Mobile Robots With Time-Varying Delays and Without Velocity Measurements

> Research article (IEEE Transactions on Automatic Control, 2023) · cited 35× · AI/ML

**Wikidata**: [openalex:W4362689374](https://www.wikidata.org/wiki/openalex:W4362689374)  
**Source**: https://4ort.xyz/entity/global-consensus-based-formation-control-of-nonholonomic-mobile-robots-with-time-varying-delays-and-without-velocity-mea