Cardona was shot during the scuffle. He died at the scene.
Police said the culprits ran through woods next to the property.
A witness told police he saw someone jump into the bed of a white pickup truck and pull a tarp over himself. The truck was driven away on Compton Road toward Union Mill Road.
Cardona was a handyman working at the mansion. He was married with two children.
Residents of the mansion said Cardona died defending them.
Anyone with information about the case should call Crime Solvers at 866-411-TIPS or visit their website.