WEBMAIL    |    Intranet    |    Site Map





Coordinator: ROSA - The Romanian Space Agency


  • Bitnet - Sensors and Systems Research Center
  • University "Politehnica" of Bucharest - Continue Automation, Processes and Computers Research Centre,
  • Institute of Space Sciences - ISS
  • National Institute for Aerospace Research "Elie Carafoli" - INCAS
  • University "Polytechnic" Bucharest - Research Center for Aeronautics and Space


Project director:


FormUAV is a system of UAVs (Unmanned Aerial Vehicles - UAV) autonomously flying in formation. Band members are equipped with observation and reconnaissance systems, are network connected and are using distributed algorithms for combined processing of information.

FormUAV finds its application in surveillance and monitoring techniques for security and civilian applications.



1 - Flying in formation (1 item) UPB-CCAS, Incas:

  • analysis of international and national organizations' regulations for civil UAVs (ICAO, JAA, EASA, EUROCONTROL, AAvC etc.)
  • complete definition of system requirements and establishment of flight tests;
  • determining mathematical models of the dynamics of UAVs used in typical flight regimes; linear approximations; handling performance analysis;
  • analysis of in formation aerodynamic flight effects; changes in aerodynamic coefficients compared to "isolated" UAV flights;
  • generation of formation flight paths

2 - Automatic UAV Control System (1 items) UPB-CCAS, UPB-ACPC, Incas:

  • autonomous control system design for UAVs: estabishment of the system for transducers; filtering algorithm;
  • Synthesis of inner loop for the control of the relative position from the center of the band; comparative analysis of the performance obtained by methods of optimal control and dynamic inversion for different band structures (Leader / Wingmen structures and those based on the geometrical center of the band); band stability analysis;
  • control system hardware and software implementation;
  • synthesis of band control system for default trajectory tracking (speed adjustment, longitudinal attitude, head angle); analysis of robustness performances stability against modeling uncertainties; numerical simulation of the automatic trajectory tracking and geometry formation keeping system; setting the automatic control system configuration in formation flight;
  • ground testing of formation flight control system

3 - inter-unit communication systems and with ground station (1 item) UPB-ACPC, ROSA, ISS, Bitnet:

  • defining system communication architecture between flying band members: design, analysis of information encryption methods and design of communication system of UAVs formation with the ground station: setting the configuration and flow commands definition, telemetry and video data stream;
  • obtaining licenses for frequency transceiver;
  • establishing communication systems betweenflying band members;
  • establishing communication systems between flying band members flying and ground station;
  • implementation of communication protocols;
  • communications system testing

4 - Image acquisition system (1 item) ROSA, UPB-ACPC, ISS, INCAS::

  • acquisition system design, processing and transmission of video information to the ground: settig the configuration, the choice of sensors and image processors, optical system design;
  • hardware and software implementation of the acquisition, processing and transmission of video information system.
  • defining of modeling algorithms and identifying the positions of the targets by using the method of thee least multi-dimensional squares (MCMMP-M), the Markov method and Kalman-Bucy filter;
  • image acquisition system testing

5 - Pilot system development and test (1 item). All partners:

  • UAVs flight testing. Identification and refining of dynamic model;
  • UAVs equipping with control, communications, video data acquisition and video transmission systems;
  • UAVs pilot system testing

6 - Project Management (1 item) ROSA:

  • perform the necessary activities to fulfill quality requests: project organization and planning, identifying responsibilities of the consortium members, establishing procedures to monitor and control financial and technical-scientific activities;
  • monitoring the activities of the project: preparation of the management plan, establishment of working methods and related activities;
  • providing information and communication management: ensuring communication flow between consortium members, achieving good external communications;
  • preparation of projects for international cooperation


  • Petrescu Cătălin, Stefanoiu Dan, Lupu Ciprian, Performance Evaluation of Motion Estimation în DCT Transform Domain, WSEAS Transactions on Signal Processing (ISSN: 1790-5052, INSPEC Referenced), Issue 6, Vol. 4, p. 371–380, June 2008
  • Stoica, A.M., I. Yaes, Passivity of a class of Hopfield networks – Application to chaos control, ICINCO 2008, Portugal. Proceedings of the fifth internaţional conference on informatics în control, automation and robotics, vol. SPSMC
  • Stefanoiu Dan, Petrescu Cătălin, VISA – A Versatile Interface of Signal Acquisition and Wavelet Based Data Fusion, The 5-th Europe-Asia Congress on Mechatronics (Mechatronics-2008,ISBN: 978-3-876923-22-7), Annecy, France, Proceedings on CD, Paper # 167, pp. 167-172, May 21–23, 2008
  • Stoica A.-M, Kalman–type filtering for discrete–time stochastic systems with state–dependent noise, Mathematical Theory of Network and Systems-MTNS 2008, Blacksburg, Virginia, UŞA
  • Stoica, A.M., G. Freiling, V. Drăgan, Iterative algorithms for stabilizing solutions of game theoretic Riccati equations of stochastic control, Mathematical Theory of Network and Systems-MTNS 2008, Blacksburg, Virginia, UŞA
  • Stoica A.-M., I. Yaesh, Stochastic Hopfield Networks with Multiplicative Noise and Jump Markov Parameters, Mathematical Reports, Vol. 1 (59), No. 1, p 111-122
  • Stoica A.-M., I. Yaesh, Markovian jump delayed Hopfield networks with multiplicative noise, Automatica-IFAC Volume: 44 Issue: 8 p. 2157-2162
  • Stoica, A.-M, An H-infinity filtering problem for systems with state-dependent noise, Control Engineering and Applied Informatics (CEAI) Journal (ISSN: 1454-8658), vol. 11, no. 2, p.35-42
  • Stefanoiu Dan, Petrescu Cătălin, A Method of Distributed Data Fusion Based on Orthogonal Wavelets , Control Engineering and Applied Informatics (CEAI) Journal (ISSN: 1454-8658), Vol. 10, No. 3, p. 37–45, September 2008
  • Stoica A.M., Barbelian M., Drăgăşanu C., Pană V., Reduced-Order Filter Design for Discrete-Time Systems Corrupted with Multiplicative Noise, AIAA Guidance, Navigation and Control Conference
  • Stoica A.-M., V.Drăgan, I. Yaesh, Kalman-Type Filtering for Stochastic Systems with State-Dependent Noise and Markovian Jumps, 17th Internaţional Conference On Control Systems and Computer Science
  • Stoica A.-M., C. Dragasanu, Automatic Flight Control Using Sampled-Data Optimization, Internaţional Council of Aeronautical Sciences
  • Petrescu Cătălin, Stefanoiu Dan, Lupu Ciprian, Interface and Data Fusion Method, Based on Wavelets, for Distributed Sensors, Internaţional Francophone Conference în Automatics CIFA-2008 (an IEEE event) (ISBN: 978-2-915913-24-8), Bucharest, România, Proceedings on CD, Paper # T21-I-30-0414, pp. 414-419, September 3–5, 2008
  • Petrescu Cătălin, Stefanoiu Dan, Lupu Ciprian, Motion Estimation în 2D-DCT Transform Domain, Internaţional Conference on Automation and Information ICAI’08 a publication
  • of WSEAS Press (ISBN: 978-960-6766-77-0, ÎŞI Thomson and INSPEC referenced), Bucharest, România, pp. 499–504, June 24–26, 2008
  • Chelaru T.V., Până V., Chelaru A., Flight Dynamics for UAV formations, Proceedings of the 10th WSEAS Internaţional Conference on AUTOMATION & INFORMATION (ICAI'09), ISBN 978-960-474-064-2, Prague, Czech Republic, 23-25 March 2009.
  • Chelaru T.V., Până V., Chelaru A., Dynamics and Flight control of the UAV formations, WSEAS TRANSACTIONS on SYSTEMS and CONTROL, ISSN: 1991-8763 198, Issue 4,
  • Volume 4, April 2009
  • Chelaru T.V., Până V., Dynamic stability of the UAV formations fly, Proceedings of the 9th WSEAS Internaţional Conference on SIMULATION, MODELLING AND OPTIMIZATION (SMO '09), ISBN 978-960-474-113-7, Budapest, Hungary, 2-5 Sep. 2009.
  • Petrescu Cătălin, Ştefănoiu Dan, Lupu Ciprian, Fast and Precise Implementation of Low-Pass Digital Filters for Data Acquisition, The 20-th DAAAM Internaţional Symposium "Intelligent Manufacturing & Automation: Theory, Practice & Education", ISTP/ISI-Thomson referenced, Vienna, Austria, November 25-28, 2009
  • Ştefănoiu Dan, Petrescu Cătălin, Fusion des données distribuées a base d’ondelettes orthogonales, Automatique Avancée et Informatique Appliquée. Editori.: P. Borne, F. Florin, M. Benrejeb, D. Popescu, ISBN: 978-973-27-1806-3, Mai 2009

Project page: FORMUAV