  Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of
remote sensing missions such as target search and tracking, mapping, or
surveillance monitoring. In the first part of our paper we consider agent
dynamics, network topologies, and collective behaviors. The objective is to
enable multiple UAVs to collaborate toward a common goal, as one would find in
a remote sensing setting. An agreement protocol is carried out by the
multi-agents using local information, and without external user input. The
second part of the paper focuses on the equations of motion for a specific type
of UAV, the quadcopter, and expresses them as an affine nonlinear control
system. Finally, we illustrate our work with a simulation of an agreement
protocol for dynamically sound quadcopters augmenting the particle graph
theoretic approach with orientation and a proper dynamics for quadcopters.
