Abstract
In this study, we address the consensus formation problem in multi-agent systems, specifically focusing on wheeled mobile robots (WMRs). The paper proposes a hybrid consensus framework that integrates both pairwise and higher-order interactions among robots, aiming to model real-world scenarios involving dense formations and multi-agent group coordination. The framework accounts for nonholonomic constraints of WMRs and incorporates a non-smooth Lyapunov function for stability analysis. By extending classical consensus models with group-level feedback and proving stability using the upper Dini derivative, the proposed solution ensures robust consensus even in the presence of contrarian agents and dynamic environments. The simulation results demonstrate the effectiveness of the proposed model in achieving synchronization and convergence across a network of WMRs.