Two sphere shaped objects hovering in Illinois

Last night as we were driving along the highway we pulled over to what we thought were to airplanes but then realized that they weren't. We knew that they were not a helicopter or airplane just by the light that they emitted and how they flew. It looked like two yellow/white orbs and they just hovered probably half a mile apart for about 5 minutes. One then started flying up into the sky then did a U-turn and flew in the other direction and a minute after the first object started flying, the other object flew in the opposite direction of the first object.