Recently, the concept of controlling a large group of spacecraft has been studied extensively in literature for different applications. Swarms of microsatellites are an attractive alternative to traditional large spacecraft due to the resulting enhancement in robustness of the overall mission architecture while reducing the cost of each platform. The Guidance, Navigation & Control (GNC) subsystem of the space system is required to drive and keep the satellites formation towards multiple different configurations, which are imposed by the mission objectives. It is relevant to investigate low computational effort algorithms enabling spacecrafts to achieve and keep a formation by ensuring obstacle avoidance.