# Passivity-Based Trajectory Tracking and Formation Control of Nonholonomic Wheeled Robots Without Velocity Measurements

> Research article (IEEE Transactions on Automatic Control, 2023) · cited 22× · AI/ML

**Wikidata**: [openalex:W4327661833](https://www.wikidata.org/wiki/openalex:W4327661833)  
**Source**: https://4ort.xyz/entity/passivity-based-trajectory-tracking-and-formation-control-of-nonholonomic-wheeled-robots-without-velocity-measurements