Unmanned Aerial Vehicles (UAVs) often fly in formation owing to their lightness, flexibility and versatility, meaning that the distances between individual pairs of UAVs stay fixed. A four-level hybrid architecture is presented in this paper, with mission planning level, formation manage level, formation control level and UAV control level. with this architecture, we can complete a typical scenario of formation control of multi-UAV, which consists of formation reaching, formation keeping, collision avoidance and formation reconfiguration.
