I. INTRODUCTION  
A. CPS can inspire the UAV networks  
B. Existing surveys and motivations  
C. Paper organization  

II. BACKGROUNDS AND PRELIMINARIES  
B. Autonomy in the UAV networks  

III. CPS COMPONENTS IN THE UAV NETWORKS  
A. Communication  
B. Computation  
C. Control  

IV. UAV NETWORKS OF THREE CPS HIERARCHIES  
A. Cell level  
B. System level  
C. System of system level  

V. COUPLING EFFECTS IN THE UAV NETWORKS  
A. Computation and communication  
B. Computation and control  
C. Communication and control  

VI. CHALLENGES AND OPEN ISSUES  
A. CPS model of the UAV networks  
B. Convergence of heterogeneous networks  
C. Computation offloading  
D. Resource scheduling  
E. Energy efficiency  
F. Security and privacy  
G. Performance evaluation  

VII. CONCLUSION