This work studies and proposes a remote control architecture for a set of nonholonomic robotic vehicles. We used a new decentralized control strategy based on the Leader-Follower principle, the GPS information, and signal level of the wireless communication to generate an optimal path for each nonholonomic robot. We incorporate a reactive term in the optimization process based on the Deformable Virtual Zones (DVZ) that modifies the path of each robot for a given ultrasound sensor information of each robot in order to get away from obstacles.