Title :
4-D/RCS reference model architecture for unmanned ground vehicles
Author_Institution :
Intelligent Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
Abstract :
4D/RCS is the reference model architecture currently being developed for the Demo III Experimental Unmanned Vehicle program. 4D/RCS integrates the NIST (National Institute of Standards and Technology) RCS (real-time control system) with the German (Universitat der Bundeswehr Munchen) VaMoRs 4D approach (3 dimensions+time) to dynamic machine vision. The 4D/RCS architecture consists of a hierarchy of computational nodes each of which contains behavior generation (BG), world modeling (WM), sensory processing (SP), and value judgement (VJ) processes. Each node also contains a knowledge database (KD) and an operator interface. These computational nodes are arranged such that the BG processes represent organizational units within a command and control hierarchy
Keywords :
intelligent control; mobile robots; real-time systems; robot vision; user interfaces; vehicles; 4D/RCS reference model architecture; BG; Demo III Experimental Unmanned Vehicle program; KD; SP; VJ; VaMoRs 4D approach; WM; behavior generation; computational node hierarchy; dynamic machine vision; knowledge database; operator interface; real-time control system; sensory processing; unmanned ground vehicles; value judgement; world modeling; Command and control systems; Computer architecture; Control system synthesis; Databases; Land vehicles; Machine vision; NIST; Real time systems; Road vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845165
