This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while followers track the leader's pose with an inter-agent delay. First, the leader and the follower kinematic models are feedback linearized and the platoon's error dynamics and input constraints characterized. Then, a set-theoretic model predictive control strategy is proposed to address the platooning trajectory tracking control problem. An ad-hoc collision avoidance policy is also proposed to guarantee collision avoidance amongst the agents. Finally, the effectiveness of the proposed control architecture is validated through experiments performed on a formation of Khepera IV differential drive robots

翻译：本文提出一种控制方案，用于实现输入受限移动机器人的无碰撞编队行驶控制。编队策略采用领航者-跟随者方法，其中领航者跟踪参考轨迹，而跟随者以智能体间延迟跟踪领航者位姿。首先，对领航者和跟随者运动学模型进行反馈线性化，并描述编队误差动力学与输入约束特征。随后，提出一种基于集合理论模型预测控制策略以解决编队轨迹跟踪控制问题。同时，设计一种专用的防碰撞策略以确保智能体间避免碰撞。最后，通过由Khepera IV差动驱动机器人组成的编队实验验证了所提控制架构的有效性。