This　article　addresses　the　problem　of　formation　control　of　networked　UAVs　under　deception　attacks.　A　lightweight　resilient　formation　control　framework　based　on　watermarks　is　proposed　to　achieve　the　desired　formation　configuration　without　extra　monitoring　attack　status.　Since　deception　attacks　are　covert,　the　shared　information　is　watermarked　before　transmission　to　establish　the　protocol　among　networked　UAVs.　To　facilitate　the　resilient　formation　controller　design,　a　decoder　is　first　developed　to　decipher　the　inverse　transformation　of　deception　attacks,　where　the　watermark　is　the　criterion　for　approximating　the　inverse　transformation.　The　Gauss　error　function　is　introduced　to　eliminate　some　unrealistic　input　commands　under　deception　attacks,　obtaining　the　predefined　input　performance.　Then,　a　resilient　formation　controller　is　developed　to　guarantee　the　global　boundedness　of　all　signals　within　the　inner-loop　and　outerloop　system,　while　the　formation　error　converges　to　a　small　neighborhood　of　zero　by　solving　the　linear　matrix　inequality.　Two　challenging　deception　attack　examples　in　simulations　and　experiments　are　conducted　to　verify　the　effectiveness　and　performance　of　the　proposed　resilient　formation　control　framework.　©　1967-2012　IEEE.