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==4D/RCS Building blocks==
The 4D/RCS architecture is characterized by a generic control node at all the [[Hierarchical routing|hierarchical control]] levels. The 4D/RCS hierarchical levels are scalable to facilitate systems of any degree of complexity. Each node within the hierarchy functions as a goal-driven, model-based, [[closed-loop controller]]. Each node is capable of accepting and decomposing task commands with goals into actions that accomplish task goals despite unexpected conditions and
===4D/RCS Hierarchy===
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* At the ''Platoon level'' : Multiple sections containing a total of 10 or more vehicles of different types are coordinated to generate platoon tactics.
* At the ''Company level'' : Multiple platoons containing a total of 40 or more vehicles of different types are coordinated to generate company tactics.
* At the ''Battalion level'' : Multiple companies containing a total of 160 or more vehicles of different types are coordinated to generate battalion tactics.
At all levels, task commands are decomposed into jobs for lower level units and coordinated schedules for subordinates are generated. At all levels, communication between peers enables coordinated actions. At all levels, feedback from lower levels is used to cycle subtasks and to compensate for deviations from the planned situations.<ref name="Albus02"/>
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[[File:4D-RCS control loop basic internal structure.jpg|thumb|360px|4D-RCS control loop basic internal structure.]]
At the heart of the control loop through each node is the world model, which provides the node with an internal model of the external world. The world model provides a site for data fusion, acts as a buffer between perception and behavior, and supports both sensory process-ing and behavior generation.<ref name="Albus06"/>
My daughter thinks this is unreliable, shes right.
A high level diagram of the internal structure of the world model and value judgment system is shown in the figure. Within the knowledge database, iconic information (images and maps) is linked to each other and to symbolic information (entities and events). Situations and relationships between entities, events, images, and maps are represented by pointers. Pointers that link symbolic data struc-tures to each other form syntactic, semantic, causal, and situational networks. Pointers that link symbolic data structures to regions in images and maps provide symbol grounding and enable the world model to project its understanding of reality onto the physical world.<ref name="Albus06"/>
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