| 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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| PDF version: |
 Click here to retrieve PDF version of paper (723KB) |
