The problem of coordinating the operations of a robot team comprising unmanned ground vehicles and unmanned aerial vehicles, toward a single leader formation, is studied in the Ramadge-Wonham framework. In this robot team, the members of a specific group of unmanned vehicles (UVs) can take over both roles of leader and follower, as they have the ability to exchange roles during a task. The rest UVs of the robot team can have only the role of the follower. In the present paper, the modeling of the robot team is parametric with respect to the total number of the team’s UVs, as well as the number of UVs that can take over both roles. A supervisor, distinguishing the roles of leader and follower, is developed for UVs being able to perform both roles. Several rules, providing desired behavior of each UV, with respect to formations, are translated to a set of corresponding regular languages. Each language is realized by an appropriate two-state supervisor automaton, thus facilitating the implementation of the designed controllers and providing low computational complexity. The property of physical realizability of the supervisors and the property of nonblocking of the total controlled automaton are proved.