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Line 5: The 4D/RCS has been developed by the Intelligent Systems Division (ISD) of the [[National Institute of Standards and Technology]] (NIST) since the 1980s.<ref>Danil Prokhorov (2008) ''Computational Intelligence in Automotive Applications''. p. 315</ref> This reference model is based on the general [[Real-time Control System]] (RCS) Reference Model Architecture, and has been applied to many kinds of robot control, including autonomous vehicle control.<ref name="Albus06">Albus, J.S. et al. (2006). "[https://www.nist.gov/cgi-bin//get_pdf.cgi?pub_id=822702 Learning in a Hierarchical Control System: 4D/RCS in the DARPA LAGR Program]{{Dead link\|date=July 2023 \|bot=InternetArchiveBot \|fix-attempted=yes }}". NIST June 26, 2006. in: ''ICINCO 06 - International Conference in Control, Automation and Robotics, Setubal, Portugal, August 2006''</ref> ==Overview==

4D-RCS Reference Model Architecture: Difference between revisions