Robot swarm control is one of the most important tasks in the field of unmanned vehicles. The paper presents an architecture of semi-centralized system that allows one to control an entire robot swarm as a single entity with a single remote controller. The proposed system integrates intragroup communication, Local Voting Protocol-based algorithm for formation m aintenance, a method to overcome noises and communication breaks between some of the robots and the remote controller. Conducted experiments demonstrate the efficiency of the proposed system even in complex and unpredictable environments.