UAE intercepts Yemen rebel missile as Israeli president visits
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Nobody was hurt in the early-hours attack, the third in consecutive weeks on the wealthy Gulf nation that is part of the Saudi-led coalition fighting Yemen's Iran-backed insurgents.
It said fragments of debris fell "outside of populated areas", without giving further details.
Herzog, who met Abu Dhabi Crown Prince Sheikh Mohammed bin Zayed Al-Nahyan on Sunday, visited Dubai's Expo 2020 site on Monday and held talks with the UAE Prime Minister and ruler of Dubai, Sheikh Mohammed bin Rashid Al-Maktoum.
Herzog will "continue his visit as planned", his office said earlier, as the United States condemned the Huthi attack.
"While Israel's president is visiting the UAE to build bridges and promote stability across the region, the Huthis continue to launch attacks that threaten civilians," State Department spokesman Ned Price tweeted.
Spate of attacks
Monday's attack was the latest in a series against the Emirates.
Three oil workers were killed in a drone-and-missile attack on Abu Dhabi on January 17 -- the first deadly assault in the UAE claimed by the Huthis -- and two ballistic missiles were intercepted over the capital a week later.
The attacks, which follow a spike in hostilities in Yemen, have raised Gulf tensions further at a time when international talks over Iran's nuclear programme are floundering and have helped push oil prices to seven-year highs.
In early January, the rebels seized a UAE-flagged ship in the Red Sea, saying it was carrying weapons -- a claim denied by the Emirates.
Warning of more assaults
Huthi military spokesman Yahya Saree said the rebels targeted Abu Dhabi with a number of ballistic missiles and Dubai with multiple drones.
He also warned "citizens, residents and companies to stay away from... vital facilities as they are at risk of being targeted in the coming period".
The Emirates affirms its "full readiness to deal with any threats" and will "take all necessary measures to protect the UAE from any attacks", it added.
The UAE authorities said that the incident had no impact on air traffic, with flight operations proceeding normally.
A senior Emirati official last week vowed that Huthi attacks will not become a "new normal" for the Gulf country, a trade, business and tourism centre and a major oil exporter.
Yemen's civil war began in 2014 when the Huthis seized the capital Sanaa, prompting Saudi-led forces to intervene to prop up the government the following year.
The conflict has killed hundreds of thousands of people directly or indirectly and left millions on the brink of famine, according to the United Nations which calls it the world's worst humanitarian catastrophe.