This paper reviews some main results and progresses in consensus-based formation control of multi-agent system, focusing on the papers published in major control systems and robotics journals since 2007.Consensus-based formation control of multiple vehicles, including Unmanned Aerial Vehicles (UAVs), robots, and unmanned underwater vehicles, has been a very active research subject of the system control area.The recent results in this area are categorized into two directions as consensus formation producing and consensus formation following.In the end, a short discussion section is included to summarize the recent researches and to propose several vital research directions along with some problems important for further investigations.