We presented distributed formation control strategy for a team of agents with distinct labels to autonomously achieve a desired geometric shape. In our approach, a set of constant gain matrices computed by solving a semi-definite program is provided to each agent before the mission. The local relative positions of neighboring agents are multiplied by the associated gain matrices and some to determine a desired direction of motion. We assume that the z-axis of the agent's local coordinate frames are aligned. However, this assumption is not crucial, and our approach is provably robust to misalignments or measurement inaccuracies that affect the desired direction of motion. In particular, converges is ensured if agents move along any direction that projects positively onto the desired direction. This observation is exploited in a fully distributed collision avoidance strategy to rotate the desired direction and avoid entering safety regions of adjacent agents. Our approach can be applied to existing multi-rotor Aero platforms where the direction of gravitational force measured by an onboard ion use sensor can be used to align the local z-axis. We conduct multiple experiments using crazy fly quadrotors to validate our method, positions of quadrotors returned by the Vycon motion capture system are transferred into their local coordinate frames before it being used to compute the desired direction of motion. In the first set of experiments, we consider a square pyramid desired formation with five agents. The agents initially hover at an altitude of 50 centimeters before executing the control strategy. The onboard flight controller of each quadrotor is responsible for moving the vehicle along the desired direction. Looking from two different initial positions, the agents achieve the desired formation without any collisions. In the second set of experiments, we consider a pentagonal pyramid desired formation with six agents. Since our approach is not based on global position information and measurements are local and relative, the formation is achieved up to a translation and a rotation about the z-axis of the global coordinate frame. Also the formation can be flipped along the z direction. In both experiments with different initial conditions, agents converge with the desired formation. In the last set of experiments, we test our approach with eight agents starting from two different initial positions. Inter agent distances among all quadrotors are plotted for this time. By moving along a collision-free direction instead of a desired direction, vehicles respect the minimum safety distance of 45 centimeters and avoid collisions as they converge to the desired formation. The proposed collision-avoidness strategy can cause gridlocks due to its distributed nature, resolving gridlocks using inter agent communications as a topic of our future work.