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In this paper, we present an extension to multiple-vehicle coordination and formation flight of a recently developed framework for UAV motion planning. This framework leads to the development of a modeling language for UAV trajectories, based on the interconnection of a finite number of suitably defined motion primitives, or maneuvers. Building on similar considerations, a concept of motion coordination primitive is introduced, and used to define a motion description language for cooperative multiple-vehicle systems. Once the language is defined, algorithms for the efficient computation of feasible and optimal motion coordination plans can be implemented. The application of the proposed technique to motion planning for a group of small model helicopters is discussed, through examples on a high-fidelity simulation.