The first main objective of this Thesis research project is to develop a drone following algorithm based on the study of drones' interaction signals. This algorithm must be able to run on drones with low computational power as the ones used to develop it. The idea behind this algorithm stands in the geese' formation flight, where such birds are able to fly in an optimal wing vortex point to save energy. This results in their typical V-shaped swarm formations. Similarly, the used drones must be able to detect the wind produced by other's rotors to engage a following procedure. The work starts from a previous thesis research of Paolo Ceppi and aims to continue his work to achieve a new goal.