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 on Informatics in Control, Automation and Robotics
Pub Type: Conferences
4D/RCS, hierarchical control, LAGR, learning, mobile robot, reference model architecture