Abstract: In order to make UAV swarms better used in practice, this paper first reviews from two perspectives, UAV mission planning and formation flying, and then makes the prospect of multiple UAV swarms mission planning based on formation flying. In the research status of UAV swarms mission planning, it is first divided into task allocation and trajectory planning, and then summarized and combined into mission planning overview. In the research status of UAV swarms formation flying, it is reviewed from formation awareness communication and formation control. Finally, new research directions and related issues of multiple UAV swarms fusion mission planning and formation flying are discussed, with the consideration of multiple UAV swarms trajectory planning of formation flying and multiple UAV swarms mission planning of formation flying.