"To the conscious Venezuela, we are going to bet for the good of our country, the hour of the economic recovery has come and we need".
Camacho says that several members of the Venezuelan National Guard were injured during the incident.
Mr. Maduro was unharmed, but the explosions triggered by the drones injured seven soldiers participating in a military-style parade honoring the National Guard in the capital of Caracas, said Jorge Rodriguez, the information minister.
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The event was taking place on Bolivar de Caracas Avenue when the live television transmission was abruptly cut at 5:46 p.m. local time. A video shows Flores wince, and both she and Maduro look up after an unidentified sound.
Earlier, various reports by global media outlets had indicated that this was an assassination attempt on Maduro.
Taking to Twitter after the incident, the country's President said: "I trust the armed force to capture those responsible for the war against the people".
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Venezuela's government routinely accuses opposition activists of plotting to attack and overthrow Maduro, a deeply unpopular leader who was recently elected to a new term in office in a vote decried by dozens of nations.
Mr Rodriguz defiantly said "Whoever carried out this attack failed". The camera then panned to scores of soldiers who started running, before the transmission was cut.
Firefighters near the scene are disputing the government's version of events.
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