Some missions, mainly military, can be performed by unmanned aerial
vehicles (UAVs), which cooperate to achieve a common objective. Considering
that the detection of UAVs can compromise a mission, this work proposes
a local communication model to improve the stealth of collaborative UAV
networks. The model supports mechanisms for detection and avoidance of threats.
Once a threat is detected, a policy to turn off the UAVs communication
radars is applied. It also comprise mechanisms for connectivity maintenance
and collision avoidance. For 150 simulation scenarios, we empirically show
that, with the proposed model, as the number of UAVs increases, exposure to
threats decreases.