This paper presents a new framework and experimental setup for distributed simulation and virtual reality visualization of multi-robot receding horizon control (RHC) systems. A distributed RHC algorithm for formation control of multi-robot systems is implemented on multiple computers using a UDP/IP network and synchronization functions for real-time implementation. An object oriented virtual reality (VR) environment is also developed which can be interfaced with the distributed simulation. Several types of VR ground and air vehicles can be simulated and combined with the distributed RHC system for verification of the controller in an unstructured VR environment. Furthermore, a 6 degree of freedom motion platform is integrated with the system to allow pilot vehicle interaction studies. Together this work provides a general and useful tool for development and testing of multi-robot distributed RHC control systems.