4D-RCS Reference Model Architecture: Difference between revisions

Revision as of 12:12, 10 March 2020

Revision as of 18:55, 22 May 2020

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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 update 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|1-58603-370-0}}. 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 deliverativedeliberative 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 trajectories known as an [[ego-graph]] as well as information from the real-time sensor processing. The trajectories are computed based on a discrete set of possible vehicle velocities and starting steering angles. All of the trajectories are guaranteed 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 vehicle status".<ref name="SBB03"/>

==History==