4D-RCS Reference Model Architecture: Difference between revisions

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4D/RCS is a reference model architecture that provides a theoretical foundation for designing, engineering, integrating intelligent systems software for [[unmanned ground vehicle]]s.<ref>Douglas Whitney Gage (2004). ''Mobile robots XVII: 26–28 October 2004, Philadelphia, Pennsylvania, USA''. ‎Society of Photo-optical Instrumentation Engineers. page 35.</ref>

[[File:4D-RCS control loop fundamental structure.jpg|thumb|320px|left|Fundamental structure of a 4D/RCS control loop.]]

According to Balakirsky (2003) 4D/RCS is an example of deliberative [[agent architecture]]. These architectures "include all systems that plan to meet future goal or deadline. In general, these systems plan on a model of the world rather than planning directly on processed sensor output. This may be accomplished by real-time [[sensor]]s, [[A priori and a posteriori|a priori]] information, or a combination of the two in order to create a picture or snapshot of the world that is used to upfateupdate a world model".<ref name="SBB03">S.B. Balakirsky (2003). ''A framework for planning with incrementally created graphs in attributed problem spaces''. IOS Press. ISBN 1586033700. p.10-11.</ref> The course of action of a deliberative agent architecture is based on the world model and the commanded mission goal, see image. This goal "may be a given system state or physical ___location. To meet the goal systems of this kind attempts to compute a path through a multi-dimensional space contained in the real world".<ref name="SBB03"/>

The 4D/RCS is a hierarchical deliverative architecture, that "plans up to the [[subsystem]] level to compute plans for an [[autonomous vehicle]] driving over rough terrain. In this system, the world model contains a pre-computed dictionary of possible vehicle tractoriestrajectories known as an [[ego-graph]] as well as inormationinformation from the real-time sensor processing. The tractoriestrajectories are computed based on a discrete set of possible vehicle velocities and starting steering agles. All of the trajectories are garantueedguaranteed to be dynamically correct for the given velocity and steering angle. The systems runs under a fixed planning cycle, with the sensed information being updated into the world model at the beginning of the cycle. These update information include information on what area is currently under observation by the sensors, where detected obstacles exist, and verhiclevehicle status".<ref name="SBB03"/>

== History ==