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In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under nonlinear cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent i pursues agent i+1 modulo n. Each agent is subjected to a nonholonomic constraint. A necessary condition for equilibrium formation to occur among a group of agents with different speeds and different controller gains is obtained. These results generalize equal speed and equal controller gain results available in the literature.