Autonomous navigation
INS/GNSS algorithms, orthodromic flight and coordinated turns on the WGS 84 ellipsoid, real-time route planning.
★ Unique model & contributions →
Institute of Robotics — Bulgarian Academy of Sciences
Unmanned Robotic Systems Laboratory
Autonomous navigation, avionics and unmanned aircraft systems — from the mathematical model to the flight.
- 6
- scientists & engineers
- WGS 84
- precise on-board models
- NSP DS
- National Program Security & Defence
About
The Unmanned Robotic Systems Laboratory works in aviation complexes, avionics, and communication and radar technologies. It supports the scientific departments of the Institute of Robotics in research conducted in the interests of security and defence, mainly for robotic systems.
The laboratory has its own prototypes of remotely piloted aircraft with extended endurance and increased payload, and supports doctoral programmes on innovative unmanned systems with autonomous program control, including elements of artificial intelligence.
Research areas
Geodesy & gravity
Precise analytical models of the gravity field and of the geocentric–geodetic latitude difference for on-board computation.
8 publications →
Avionics & platforms
UAV prototypes with extended endurance and payload; SoC-based on-board command and control (C2) systems.
20 publications →
Communications & radar
Communication and radar technologies for robotic systems in the interests of security and defence.
8 publications →
Data security
Constructive models for designing data-protection systems in unmanned and cyber-physical systems.
39 publications →
Flight safety & regulation
Risk assessment for specific-category operations (SORA) and UAS pilot training under Regulation (EU) 2019/947.
4 publications →
Live model
Coordinated turn along a clothoid
Interactive illustration: a route through waypoints with smooth turns whose curvature changes linearly with arc length — no jump in lateral acceleration when switching orthodromes. Drag the waypoints.
Curvature κ(s) ~ lateral acceleration
Source code: DOI 10.5281/zenodo.23086274
Latest publications
All publications →Information System for Reporting Scientific Publications and Scientometric Indicators with Automated Bibliographic Verification
A. Madzharov, N. Chehlarova, I. Gaidarski
ICAICTSEE 2026 — 16th Int. Conf. on Application of Information and Communication Technology and Statistics in Economy and Education, UNWE, Sofia — Conference Proceedings
Application of Kummer's Equation for Flight Between Two Geodesic Orthodromes in a Coordinated Turn
A. Madzharov
AMiTaNS 2026 — IOP Publishing, Journal of Physics: Conference Series
Precise Calculations of Gravity Anomalies from the Geometric Height for Autonomous Air Navigation
A. Madzharov
AMiTaNS 2026 — IOP Publishing, Journal of Physics: Conference Series