Abstract: This paper studies the problem of formation control for a group of UAVs, where only a small number of them are informed of the desired formation parameters. Under the circumstance that the informed agents have di erent sensing capabilities, an ane transformation-based formation control method is used to achieve the prescribed formation. In the plane, three UAVs can control the geometric shape and the size of the overall formation, which improves the feasibility of the algorithm. The whole framework of the experimental platform is proposed, on which the experiments are conducted to verify the e ectiveness of the approach.