We consider a team of unmanned aerial vehicles (UAV's) equipped with sensors and motes for wireless communication for the task of navigating to a desired location in a formation. First a neural network (NN)-based control scheme is presented that allows the UAVs to track a desired position and orientation with reference to the neighboring UAVs or obstacles in the environment. Second, we discuss a graph theory-based scheme for discovery, localization and cooperative control. The purpose of the NN cooperative controller is to achieve and maintain the desired formation shape in the presence of unmodeled dynamics and bounded unknown disturbances. Numerical results are included to illustrate the theoretical conclusions