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.
Proceedings Title: International Conference on Informatics in Control, Automation and Robotics | 3rd | | Set bal Polytechnic Institute
Conference Dates: August 1-5, 2006
Conference Location: Setubal, PO
Conference Title: International Conference in Control, Automation and Robotics (ICINCO 06)
Pub Type: Conferences
LAGR, Learning, 4D/RCS, mobile robot, hierarchical control, reference model architecture