Publication Citation (NIST authors in bold)
Authors:	Albus, J. S., Bostelman, R. V., Hong, T. H., Chang, T. Y., Shackleford, W. P., Shneier, M. O.
Title:	The LAGR Project. Integrating learning into the 4D/RCS Control Hierarchy
Published:	August 01, 2006
Abstract:	The National Institute of Standards and Technology?s (NIST) Intelligent Systems Division (ISD) is a par-ticipant in the Defense Advanced Research Project Agency (DARPA) LAGR (Learning Applied to Ground Robots) Project. The NIST team?s objective for the LAGR Project is to insert learning algorithms into the modules that make up the 4D/RCS (Four Dimensional/Real-Time Control System), the standard reference model architecture to which ISD has applied to many intelligent systems. This paper describes the 4D/RCS structure, its application to the LAGR project, and the learning and mobility control methods used by the NIST team?s vehicle.
Conference:	International Conference in Control Automation and Robotics
Proceedings:	Proceedings of ICINCO 06 International Conference in Control
Location:	Setubal, Portugal,
Dates:	August 01, 2006
Keywords:	4D/RCS, Control, hierarchical control, LAGR, learning, mobile robot, Mobility, Robotics & Intelligent Systems, Unmanned Systems
Research Area:	;
PDF version:	Click here to retrieve PDF version of paper (740 K)