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The line-of-sight range and angle constraints are proposed to satisfy the collision avoidance and connectivity maintenance. Barrier Lyapunov function is introduced in the kinematic design such that each vehicle follows its leader within the required distance. To compensate for the uncertain model dynamics, the adaptive scheme is incorporated into the decentralized design to estimate nonlinear functions. Furthermore, a disturbance observer is developed to handle time-varying external disturbances. All closed-loop states are guaranteed bounded by Lyapunov theory, and the errors can be regulated to the small neighborhood around zero in finite time. 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