A method, system and apparatus to detect when one or more airborne unmanned aerial vehicles (drones) are close to each other, and to take necessary actions to maintain a minimum distance between drones as well as a maximum distance among the drones in a dynamic environment by automatic navigation. A computer method and apparatus for holding a group of drones in a swarm formation by maintaining the group centroid of the group of drones within a tolerance of a predetermined location is also disclosed. Additionally, methods to move a swarm of drones along a predetermined path while maintaining the swarm formation of the drones is also disclosed.