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A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber adversaries and intrusions, disrupting the entire network's operation. This paper develops model-based centralized and decentralized observer techniques for detecting a class of stealthy intrusions, namely zero-dynamics and covert attacks, on networked UAVs inarXiv:2202.09661v2 fatcat:3ldgmdngq5h5bkkkjwgfiijma4