This paper studies the leader-follower formation control for multiple quadrotors. Two controllers are used. The first one is a proportional derivative controller used to ensure the tracking of the leader to the desired trajectory, while the second is based on fuzzy logic in order to achieve the desired formation in ! − ! plane with equal height (!) for all follower quadrotors. In order to ensure the speed time convergence of the formation shape, Genetic Algorithm is used online to tune the fuzzy logic controller parameters. This genetic algorithm is also used to predict the trajectory of the quadrotor leader in the case of communication failure between leader and follower quadrotors by online estimation of the least square coefficients. Proportional derivative controller is used again to keep the desired formation shape of the follower quadrotors. Finally, simulation results demonstrate the effectiveness of the proposed algorithms.