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We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations is increased. A collision avoidance algorithm is formulated to gain additional robustness against perturbations. The proposed control method is successfully validated in experiments.Index Terms-Coordinated control, control of non-holonomic systems, stability of nonlinear systems, collision avoidance.

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