## 1 Introduction  
Unmanned Aerial Vehicles (UAVs) have risen as vital tools in communication, addressing various challenges in remote or disaster-prone areas. In these areas, traditional communication infrastructure is often damaged, so this is where UAVs can interfere and act as communication relays to ensure connectivity and facilitate the flow of important information [1, 2]. Equipped with communication gears, UAVs can operate as temporary communication towers and hover over targeted areas, allowing people to communicate even during emergencies [3, 4], as shown in Figure 1. This makes UAVs extremely powerful in disaster management as well as search-and-rescue operations as they establish critical communication links in affected areas. With their flexibility and ability to access isolated areas, UAVs have become essential for improving accessibility and, in some instances, extending communication systems. The need for constant and instant communication, specifically in remote areas or during emergencies, is paramount. A report by the Red Cross highlighted UAVs as one of the most innovative technologies for this purpose [5]. Moreover, UAVs are considered important national assets and are increasingly used in military operations across the world. A few leading countries have been incorporating UAV swarms in their military attacks [6; 7] and they have been proven to be extremely effective. UAV swarms have also been used in the film industry for cinematography purposes [8; 9] and in the entertainment sector to create appealing drone shows that grab the attention of tourists [10; 11], such as in Dubai. The practical implications of securing UAV operations extend across diverse sectors, showcasing the transformative potential of this technology when effectively safeguarded against threats such as GPS spoofing. In agriculture, UAVs play a pivotal role in the modernization of farming practices, addressing the increasing global demand for food production amidst the challenges posed by climate change [12; 13]. Precision agriculture, enabled by UAVs integrated with AI and ML technologies, offers data-driven solutions for sustainable and efficient farming. However, their widespread adoption is hindered by technical, financial, and environmental challenges, underscoring the critical need for secure and reliable UAV systems to unlock their full potential. In healthcare, UAVs hold promise in revolutionizing prehospital medicine by ensuring the rapid delivery of lifesaving equipment such as Automated External Defibrillators (AEDs) and blood products to remote or hard-to-reach areas [14; 15]. By significantly reducing response times in critical scenarios like cardiac arrests, UAV networks can improve survival rates and healthcare accessibility. Nevertheless, operational safety and security remain paramount, requiring robust safeguards against GPS spoofing and other threats to ensure reliable performance in these life-critical applications. Similarly, the logistics sector is increasingly leveraging UAVs for last-mile deliveries, offering a sustainable solution to urban congestion and the inefficiencies of traditional logistics [16]. Drone logistics, characterized by direct and efficient routes, minimizes delays caused by traffic and infrastructure disruptions. However, this technological advancement comes with challenges related to security, privacy, and operational reliability. Path planning, a critical component of efficient delivery systems, becomes especially vulnerable to GPS spoofing attacks, potentially leading to operational failures, breaches of consumers' trust, and, in some cases, putting public safety at risk. Figure 1: Typical operation of UAV swarms in cities. Across these domains, the integration of UAVs introduces substantial benefits, but their success is inherently tied to their ability to operate securely and reliably.