Modern manufacturing facilities are increasingly leading to highly decentralized systems with self-organized modules that provide flexibility and increase adaptability achieving better performance and efficiency. Therefore, it will be a development of the quadcopter to increase effectiveness in the range of maneuvers but there are still many problems in the communication system, therefore the ROS system is easy to develop in multi-unmanned vehicles and can be implemented in various types of unmanned vehicles so that a multi-unmanned communication system is developed. Communication with a quadcopter with a different firmware will be developed by applying the multi-master ROS. The communication process used in this study uses a wireless LAN with TCP/ IP for connections between multi-masters on ROS embedded on Raspberry and then forwarded using the MavLink serial for each FCU of each ROS multi-master. In this system, a decentralized distribution of data is implemented, where the control center is on a workstation with the ROS system that will control the quadcopter leader. The two quadcopter followers will be controlled or follow the coordinates that have been determined by leader and will form a formation. In testing the whole system, testing data transmission from the workstation to the quadcopter leader is carried out by sending a mode change command to the FCU and producing an average time delay of 0.2s but from the quadcopter leader to the quadcopter follower there are various time delays from each movement of various axes with average delay time for 0.42s. Furthermore, the integration test of this quadcopter has succeeded in forming a formation with the application of this multi-agent communication system with parameters that can follow the existing trajectory.