4D-RCS Reference Model Architecture: Difference between revisions

Revision as of 09:00, 18 August 2011

Revision as of 20:43, 14 June 2012

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The '''4D/RCS Reference Model Architecture''' is a [[reference model]] for military [[unmanned vehicle]]s on how their [[software]] components should be identified and organized.

4D/RCS has been developed by the [[National Institute of Standards and Technology]] (NIST). It 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). "[http://www.nist.gov/cgi-bin//get_pdf.cgi?pub_id=822702 Learning in a Hierarchical Control System: 4D/RCS in the DARPA LAGR Program]". NIST June 26, 2006. in: ''ICINCO 06 - International Conference in Control, Automation and Robotics, Setubal, Portugal, August 2006''</ref>

== Overview ==

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Sensory processing performs the functions of windowing, grouping, computation, estimation, and classification on input from sensors. World modeling maintains knowledge in the form of images, maps, entities, and events with states, attributes, and values. Relationships between images, maps, entities, and events are defined by pointers. These relationships include class membership, ontologies, situations, and inheritance. Value judgment provides criteria for decision making. Behavior generation is responsible for planning and execution of behaviors.<ref name="Albus02"/>

=== ComputionalComputational nodes ===

[[File:RCS NODE Internal structure.jpg|thumb|360px|RCS NODE Internal structure.]]

The 4D/RCS nodes have internal structure such as shown in the figure. Within each node there typically are four functional elements or processes<ref name="Albus02"/> :