Goa, Nov. 15 -- The Federal Aviation Administration (FAA) has launched a formal investigation following a ground collision between a Copa Airlines passenger jet and a UPS cargo aircraft on the tarmac at Miami International Airport on Saturday night, an incident that left two people with minor injuries.

The collision occurred around 9:15 PM local time at the intersection of two taxiways. Copa Airlines Flight 427, a Boeing 737 carrying 166 passengers and six crew members, had recently landed from Panama City and was taxiing at a normal speed toward its gate. Simultaneously, UPS Flight 358, a Boeing 767, was preparing for departure to Bogota, Colombia.

According to preliminary findings from the FAA and air traffic control (ATC) recordings,...