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One prominent security threat that targets unmanned aerial vehicles (UAVs) is the capture via global positioning system (GPS) spoofing in which an attacker manipulates a UAV's GPS signals in order to capture it. Given the anticipated widespread deployment of UAVs for various purposes, it is imperative to develop new security solutions against such attacks. In this article, a mathematical framework is introduced for analyzing and mitigating the effects of GPS spoofing attacks on UAVs. In particular, system dynamics are used to model the optimal routes that the UAVs will adopt to reach their destinations. The GPS spoofer's effect on each UAV's route is also captured by the model. To this end, the spoofer's optimal imposed locations on the UAVs, are analytically derived; allowing the UAVs to predict their traveling routes under attack. Then, a countermeasure mechanism is developed to mitigate the effect of the GPS …