  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
