This study examines the utilization of networked miniature UAVs for aerial escort tasks aimed at ensuring the safe flight of a target aerial vehicle, conceptualized as a three-dimensional formation control problem within a leader-follower framework. The leader is identified as the target aerial vehicle, while the accompanying miniature UAVs serve as followers. Modeled as extended second-order unicycles with constrained communication abilities, these UAVs employ a proposed flocking algorithm. This algorithm enables the UAVs to asymptotically align with the target’s velocity and establish a stable, cohesive, or geometric formation, contingent on an initially leader-follower connected network. The study highlights the algorithm’s efficacy in preventing collisions among aerial vehicles and underscores system robustness through simulations of various formation tasks, including cohesive, sphere, and herringbone configurations. Future directions include extending escort tasks to multiple targets and optimizing the control algorithm for combat readiness.