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Decentralized overlapping feedback laws are designed fM a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure mnstrainl is treated as an interconnected system with overlapping subsystems. Using the mathematical fiamework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. On a subsystem level, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the hierarchical application of convex optimization twls involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation 1

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