# Quantum Machine Learning for Cyber-Physical Anomaly Detection in Unmanned Aerial Vehicles: A Leakage-Free Evaluation with Proxy-Audited Feature Sets

arXiv: https://arxiv.org/abs/2605.19233 · HTML: https://mlsanity.com/paper/2605.19233/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 18 references that are in the map.
- First posted on arXiv 19 May 2026.

## Builds on (most cited first, 6 of 6)

- [XGBoost: A Scalable Tree Boosting System](https://mlsanity.com/paper/1603.02754/) (2016)
- [Variational Quantum Algorithms](https://mlsanity.com/paper/2012.09265/) (2020)
- [Supervised learning with quantum enhanced feature spaces](https://mlsanity.com/paper/1804.11326/) (2018)
- [The power of quantum neural networks](https://mlsanity.com/paper/2011.00027/) (2020)
- [Experimental quantum adversarial learning with programmable superconducting qubits](https://mlsanity.com/paper/2204.01738/) (2022)
- [Intrusion Detection Systems for Networked Unmanned Aerial Vehicles: A Survey](https://mlsanity.com/paper/1807.00435/) (2018)

## Abstract (arXiv)

Unmanned aerial vehicles (UAVs) are cyber-physical systems whose attack surface spans networked avionics and on-board sensor fusion: a compromised GPS or battery module can mimic a benign mission segment and evade naive anomaly detectors. We present a leakage-free evaluation of quantum machine learning for UAV anomaly detection on the multi-sensor TLM:UAV benchmark. Three contributions support the study. (i) A group-aware temporal protocol (B2) partitions the dataset into ten contiguous TimeUS blocks and evaluates over ten seeds, eliminating the inflation produced by random stratified splits that mix neighbouring samples. (ii) A three-mode feature audit (full/loose/strict) quantifies how much accuracy stems from instantaneous physical signals versus contextual proxies (cumulative energy, battery state, GPS trajectory). (iii) A hybrid XGBoost + Data Reuploading (DRU) classifier is benchmarked against five paired non-linear controls (raw, PCA, polynomial-2, random-RBF, and an untrained DRU map) under identical budgets. The standalone DRU does not consistently match the strongest classical baseline across seeds; however, the trained-DRU hybrid is the only model whose mean F1 macro shifts upward from full to strict (+0.05), a directional signal that the per-seed standard deviations prevent from being interpreted as a statistically established difference. The trained-DRU hybrid also records the lowest mean false-alarm rate under proxy-free evaluation, subject to the inter-seed variance reported. We frame this as an incremental, reproducible quantum-enhanced hybrid benefit, and provide an open Qiskit 2.x implementation as a benchmark for cybersecurity analytics in NISQ-era aerospace systems.