This paper concerns a distributed control approach of a fleet of Unmanned Aerial Vehicles (UAVs) based on a Leaderless strategy. The independent distributed particle swarm Optimization algorithms are used to develop this approach. The goal is to get a set of UAVs to fly on a 2D plane while converging to a predefined spatial configuration around a rendezvous point. The developed method would be applied to solve problems such as covering large search areas for surveillance, inspection and rescue. The method is tested in simulation on a fleet of UAVs. Test results for various cases are presented.