The article considers the technology of multi-UAV control of the complex of illegal transmitters detection on the basis of local self-organization. Successful detection and localization of a hidden transmitter using a group of drone scanners requires the construction of drones in the required topology. The model is based on the assumption that individual drones in a group cannot communicate with all other members and can transmit information about their location and detected hidden transmitters only to a limited number of nearest neighbors. This approach provides flexibility for individual drones to respond to changes in the current situation and effective coordination in the team. A method for constructing control laws for each of the drones based on a combination of Kirchhoff matrices, a set of mutual position vectors, and combined potential-attraction-repulsion functions is proposed. The modeling of the proposed approach to the problem of forming the structure of the mobile group of UAVs with a desired topology over the search object is carried out. The effectiveness of the approach to the search for illegal transmitters is proved.