Applicability of Unmanned Aerial Vehicles (UAVs) is very broad
and it contains missions like surveillance and reconnaissance purposes,
aerial surveys for agriculture, traffic monitoring, pollution
control, meteorological data collection, pipeline survey, early fire
detection, wildlife population tracking, data collecting for precision
farming, etc. [1–4]. Field of UAV applications may be expanded
by formation flight. All tasks mentioned previously can be performed
more efficiently by flying in formation of UAVs. Formation
flight plays a significant role in drag reduction and energy savings
concepts which can lengthen the flight duration and traversed
distances [5]. Moreover it can facilitate tasks such as data retransmission
from long distances.