8796f46b-d15d-4d16-a15b-2ebdd9dbcdda20210202055811415wseamdt@crossref.orgMDT DepositWSEAS TRANSACTIONS ON APPLIED AND THEORETICAL MECHANICS2224-34291991-874710.37394/232011http://wseas.org/wseas/cms.action?id=4006212202021220201510.37394/232011.2020.15http://wseas.org/wseas/cms.action?id=23180IbrahimBatoolFaculty of Engineering, Lebanese University (LU), Islamic University of Lebanon (IUL), Beirut, LEBANONNouraHasanFaculty of Engineering, Lebanese University (LU), Islamic University of Lebanon (IUL), Beirut, LEBANONIn this paper, a distributed formation flight control topology for Leader-Follower formation structureis presented. Such topology depends in the first place on online generation of the trajectories that should befollowed by the agents in the formation. The trajectory of each agent is planned during execution depending onits neighbors and considering that the desired reference trajectory is only given to the leader. Simulation usingMATLAB/SIMULINK is done on a formation of quadrotor UAVs to illustrate the proposed method. Thetopology shows very good results in achieving the formation and following the reference trajectory.1210202012102020173181https://www.wseas.org/multimedia/journals/mechanics/2020/a405111-071.pdf10.37394/232011.2020.15.20https://www.wseas.org/multimedia/journals/mechanics/2020/a405111-071.pdf10.1109/urai.2017.7992717Z. Hou, W. Wang, G. Zhang, C. Han. A survey on the formation control of multiple quadrotors. 14th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, South Korea, 2017. 10.1109/cdc.2013.6760219K. Sreenath, T. Lee, V. Kumar. Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. IEEE 52nd Annual Conf. on Decision and Control, Italy, 2013.10.1109/mra.2012.2206473T. Tomic, K. Schmid, P. Lutz, A. Domel, M. Kassecker, E. Mair, I.L. Grixa, F.Ruess, M. Suppa, D. Burschka. 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