  In this paper, a distributed formation flight control topology for
Leader-Follower formation structure is presented. Such topology depends in the
first place on online generation of the trajectories that should be followed by
the agents in the formation. The trajectory of each agent is planned during
execution depending on its neighbors and considering that the desired reference
trajectory is only given to the leader. Simulation using MATLAB/SIMULINK is
done on a formation of quadrotor UAVs to illustrate the proposed method. The
topology shows very good results in achieving the formation and following the
reference trajectory.
