4D/RCS: a reference model architecture for intelligent unmanned ground vehicles

  title={4D/RCS: a reference model architecture for intelligent unmanned ground vehicles},
  author={James S. Albus},
  booktitle={SPIE Defense + Commercial Sensing},
  • J. Albus
  • Published in
    SPIE Defense + Commercial…
    17 July 2002
  • Computer Science
4D/RCS consists of a multi-layered multi-resolutional hierarchy of computational nodes each containing elements of sensory processing (SP), world modeling (WM), value judgment (VJ), and behavior generation (BG). At the lower levels, these elements generate goal-seeking reactive behavior. At higher levels, they enable goal-defining deliberative behavior. At low levels, range in space and time is short and resolution is high. At high levels, distance and time are long and resolution is low. This… 

4D/RCS sensory processing and world modeling on the Demo III experimental unmanned ground vehicles

The 4D/RCS system architecture has been validated as an open, modular, hierarchical, multi-resolutional integration architecture and design methodology for unmanned ground vehicles.

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4-D/RCS reference model architecture for unmanned ground vehicles

  • J. Albus
  • Computer Science
    Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
4D/RCS is the reference model architecture currently being developed for the Demo III Experimental Unmanned Vehicle program and integrates the NIST RCS with the German VaMoRs 4D approach (3 dimensions+time) to dynamic machine vision.

Hierarchical world model for an autonomous scout vehicle

A world model that combines a variety of sensed inputs and a priori information and is used to generate on-road and off-road autonomous driving behaviors and is being developed for the Army Research Laboratory's Demo III Autonomous Scout Vehicle experiment.

Value-driven behavior generation for an autonomous mobile ground robot

A value-driven graph search technique that is capable of generating a rich variety of single and multiple vehicle behaviors and techniques for collapsing a multidimensional model space into a cost space and planning graph constraints are discussed.

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Demo III will provide the military with both the technology and the initial experience required to develop and field the first generation of semi-autonomous tactical ground vehicles for combat, combat support, and logistics applications.

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A sensor-based system has been developed to identify roads and to enable a mobile robot to drive along them and performance in road detection and tracking are described and examples are shown of the system in action.

Nested Motion Planning for an Autonomous Robot

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Reading this book with the PDF intelligent systems architecture design and control will let you know more things.