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Sys."],"published-print":{"date-parts":[[2025,5]]},"abstract":"<jats:p> Network robustness is a necessary prerequisite for the effective execution of resilient control in distributed multiple unmanned aerial vehicles (UAVs). However, it remains a challenging task to construct a communication graph that satisfies specific network robustness properties. This paper investigates robust formation control of multi-UAV systems using control barrier functions (CBFs). We first propose a novel formation law to drive groups of UAVs into formations with communication graphs that satisfy the [Formula: see text]-robustness. With such a law, all the normal UAVs in the formation are capable of executing a given resilient consensus protocol, and achieving convergence in the presence of malicious attackers. Then, we present a control law that facilitates the establishment of UAV formations, in which the communication graphs satisfy p-fraction robustness. 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