There are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. The swarm system contains two types of robots—leaders and followers. A novel control protocol and an implementation algorithm are proposed that enable the leaders to achieve the desired formation via semidefinite programming (SDP) techniques. The followers then converge into the convex hull formed by the leaders simultaneously. In contrast to conventional consensus-based formation control methods, the relative formation reference signal is not required in the real-time data transmission, which provides greater feasibility for implementation on hardware platforms. The effectiveness of the proposed formation-containment control algorithm is demonstrated with both numerical simulations and experiments using real robots that utilize the miniature mobile robot, Mona.

群体机器人系统在现实场景中有许多潜在的应用。本文研究了具有输入饱和度的单积分器和双积分器群机器人系统的编队遏制控制器设计。群体系统包含两种类型的机器人-领导者和跟随者。提出了一种新颖的控制协议和一种实现算法，使领导者可以通过半定性编程（SDP）技术实现所需的形式。然后跟随者同时会聚到由领导者形成的凸包中。与传统的基于共识的编队控制方法相比，实时数据传输中不需要相对的编队参考信号，这为在硬件平台上实现提供了更大的可行性。数值模拟和实验均通过使用微型移动机器人Mona的真实机器人进行了数值模拟和实验，证明了所提出的编队围护控制算法的有效性。