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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|
|Dates:||August 1-5, 2006|
|Keywords:||4D/RCS,hierarchical control,LAGR,learning,mobile robot,reference model architecture|
|PDF version:||Click here to retrieve PDF version of paper (740KB)|