Generally, the distinction between a UAV and an R/C airplane come in the form of visual contact and whether the vehicle is being flown for commercial or private purposes. Radio Control planes, generally speaking, always have the pilots eyes on them. A UAV, being autonomous, can fly far enough away that the "pilot" (aka, ground station operator) cannot actually see the vehicle. Without seeing the vehicle, the pilot cannot 'see and avoid' other traffic (like real airplanes), and that's what gets the FAA's attention. There are also some regs about flying for commercial purposes... that is, flying a UAV with visual contact at all times still might not make it the equivalent of an R/C airplane because the flight is commercial, not recreational (I doubt anybody's out there designing proper UAV's for fun). A lot of this is detailed on the FAA site, if you search for UAV registration.
Paul