To　achieve　a　desired　quadrotor　formation,　a　formation　control　scheme　based　on　leader-follower　method　is　introduced.　A　geometric　method　is　used　for　maintaining　formation　shape　in　the　outer　loop,　the　desired　velocity　and　position　are　calculated　in　this　method　by　acquiring　position　and　yaw　of　the　leader.　The　proportional　integral　derivative　(PID)　controller　is　used　for　inner　loop　control　of　quadrotor.　Additionally,　a　proportional　derivative　(PD)　outer　loop　controller　is　used　to　compared　with　the　proposed　method.　The　simulation　of　three　quadrotors　in　the　three　dimensional　environment　shows　that　the　proposed　method　is　useful　and　more　efficient　than　the　PD　control.　©　2018　IEEE.