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Publication Citation: THE LAGR PROJECT - Integrating Learning Into the 4D/RCS Control Hierarchy

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Author(s): James S. Albus; Roger V. Bostelman; Tsai Hong Hong; William P. Shackleford; Michael O. Shneier;
Title: THE LAGR PROJECT - Integrating Learning Into the 4D/RCS Control Hierarchy
Published: August 31, 2006
Abstract: The National Institute of Standards and Technology s (NIST) Intelligent Systems Division (ISD) has been a part of 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 algorithms used by the NIST team s vehicle.
Conference: International Conference on Informatics in Control, Automation and Robotics
Proceedings: International Conference on Informatics in Control, Automation and Robotics | 3rd | | Set bal Polytechnic Institute
Location: Setubal, PO
Dates: August 1-5, 2006
Keywords: 4D/RCS;hierarchical control;LAGR;learning;mobile robot;reference model architecture
Research Areas:
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