4-D/RCS: A Reference Model Architecture for Demo III*
نویسنده
چکیده
* This paper is a condensation of 4-D/RCS: A Reference Model Architecture for Demo III, NISTIR 5994, March 1997 ABSTRACT 4-D/RCS is a reference model architecture that integrates the NIST (National Institute of Standards and Technology) RCS Real-time Control System [Albus & Meystel],with the German (Universitat der Bundeswehr Munchen) VaMoRs 4D approach to dynamic machine vision [Dickmanns]. 4-D/RCS will provide the DOD Demo III project with an open system operational architecture that will facilitate the integration of a wide variety of subsystems. These include: (1) a foveal/peripheral CCD color camera pair, (2) a Laser Range Imager, (3) a MAPS inertial guidance package, (4) a GPS satellite navigation system, (5) stereo image processing algorithms developed at the NASA Jet Propulsion Lab, and (6) a HMMWV telerobotic driving system with interfaces for a wide variety of mission packages.
منابع مشابه
4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles
4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles James S. Albus Intelligent Systems Division National Institute of Standards and Technology Gaithersburg, MD 20899 Abstract 4-D/RCS is the reference model architecture currently being developed for the Demo III Experimental Unmanned Vehicle program. 4-D/RCS integrates the NIST (National Institute of Standards and Technology) RCS (...
متن کاملIntelligent Control and Tactical Behavior Development: A long term NIST Partnership with the Army
For more than 15 years, the Intelligent Systems Division of the National Institute of Standards and Technology (NIST) has worked closely with the Army Research Laboratory (ARL) on architectures and technology development for intelligent control of unmanned vehicle systems. During the early 1990’s, NIST developed techniques for retrotraverse of trajectories recorded using teleoperation. In the l...
متن کاملA Hierarchical World Model for an Autonomous Scout Vehicle
This paper describes 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. The system is designed in accordance with the principles of the 4D/RCS architecture. The world model is hierarchical, with the resolution and scope at each level designed to minimize computational resource requirements an...
متن کاملValue-Driven Behavior Generation for an Autonomous Mobile Ground Robot
In this paper, we will describe a value-driven graph search technique that is capable of generating a rich variety of single and multiple vehicle behaviors. The generation of behaviors depends on cost and benefit computations that may involve terrain characteristics, line of sight to enemy positions, and cost, benefit, and risk of traveling on roads. Depending on mission priorities and cost val...
متن کاملApplicability of KEEL Technology to the 4D/RCS Reference Model Architecture for Unmanned Vehicle Systems
The 4D/RCS Reference Model Architecture for Unmanned Vehicle Systems provides a methodology for conceptualizing, designing, engineering, integrating, and testing intelligent systems software for vehicle systems with any degree of autonomy. Many of the components of this architecture require the integration of cognitive functions to provide this autonomy. KEEL (Knowledge Enhanced Electronic Logi...
متن کامل