Abstract: A method for implementation of a formation flight path coordination for a scalable group of Unmanned Arial Vehicles (UAVs) including a recursive architecture with a leader UAV and a plurality of follower UAVs in communication with the leader UAV, the method comprising the steps of: receiving formation commands for the UAVs of the group from a ground controller station (GCS), the formation commands including positional and velocity information for implementation by onboard processing systems, the formation commands received on a first communication channel established between the leader UAV and the GCS; sending information from the formation commands by the leader UAV to the plurality of follower UAVs belonging to the leader UAV using a second communication channel established between the plurality of follower UAVs and the leader UAV, the second communication channel separate from the first communication channel; receiving updated formation commands for the flight path from the GCS on the first communication c