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4-D/RCS Version 1.0: A Reference Model Architecture for Demo III



James S. Albus


4-D/RCS is a reference model architecture that provides a theoretical foundation for designing, engineering, integrating, and testing intelligent controllers for unmanned ground vehicle systems. 4-D/RCS integrates the NIST (National Institute of Standards and Technology) RCS Real-time Control System [Albus 96] with the German (Universitaat der Bundeswehr Muenchen) VaMoRs 4-d approach to dynamic machine version [Dickmanns 94]. It draws aspects of the David Sarnoff Laboratory image processing library and VFE hardware and the Army Research Lab computer-aided mission planning system and terrain visualization technology. The 4-D/RCS reference model architecture is intended to facilitate the integration of a wide variety of subsystems from many different sources into the DOD Demo III program.
NIST Interagency/Internal Report (NISTIR) -


behavior generation, intelligent control, real-time control, reference model architecture, supervised autonomy


Albus, J. (1997), 4-D/RCS Version 1.0: A Reference Model Architecture for Demo III, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], (Accessed June 16, 2024)


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Created June 27, 1997, Updated February 17, 2017