Steering a group of multiple nonholonomic agents such as ground vehicles and wheeled mobile robots (WMR) to a desired (moving) geometric pattern is addressed in this work. Such a problem is called formation tracking or formation maneuvering of a multi-agent system (MASs). In the system, each robot is provided with the global position and measures its forward speed and angular rate. In addition, one or more robots, termed leaders, track the reference formation path, and the other robots keep up with their neighboring robots based on their relative position constraints. A formation tracking controller is proposed based on an attitude estimation to drive certain hand points of the mobile robots to achieve the moving displacement-constrained formation. Simulation examples are also provided to support the proposed control method.