PI/PID Controller for Leader-Follower Formation Control for UGV

Do you have a model study that I can use as a reference for this specific application? I’ve been searching for specific papers related to this application but haven’t found much. I’m an undergraduate Electronics Engineering student, and I’ve decided to pursue this area for my thesis because, according to our department chair, it’s considered challenging enough.

While I’ve come across some code repositories on GitHub, they often lack proper explanations, making them difficult to follow. Additionally, I’m struggling to find clear and easy-to-understand mathematical model of this controller technique.