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The first drone fired two missiles targeting a suspected militant vehicle in Khaisor town, about 30 kilometres north of Miranshah, they said.
The attack left three militants dead, one official said. Another security official put the death toll at four.
Two more missiles followed about 15 minutes after the first strike, killing two militants, local officials said.
The second strike came as militants were engaged in rescue work after the first attack, a security official said.
Another official in Peshawar confirmed a total of five militants were killed in the two attacks.