A distributed motion planning method is designed for a group of miniature quadrotors to attain a formation in regular polygons autonomously after takeoff. In the framework of cascade control systems of quadrotors, based on simplified agent models, formation controllers distributed over communication graph use two average consensus and leader-based consensus algorithms to collaboratively generate the desired position and yaw angle trajectory of quadrotors. The topology
conditions of reaching goal formation are discussed and a design scheme of communication topology is designed on the basis of the directed Hamilton circle. Finally, the result of a simulated experiment shows the effectiveness of the proposed algorithm.