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I am by no means a defense (defence) expert, but I believe RPV and UAV are generally similar, and refer to two different generations of the same concept. One could argue perhaps that RPVs pretty much consisted of what was once simply refered to as "target drones", made to be lost in enemy territory, while UAVs have some durability in them, as they are sent on mission, perform and return to base (hopefully). UCAV, however, refers to a different kind of machine and should not therefore be used so casually for any war machine that flies unpiloted.