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The LAGR Project. Integrating learning into the 4D/RCS Control Hierarchy



James S. Albus, Roger V. Bostelman, Tsai H. Hong, Tommy Chang, William P. Shackleford, Michael O. Shneier


The National Institute of Standards and Technology?s (NIST) Intelligent Systems Division (ISD) is a par-ticipant in 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 methods used by the NIST team?s vehicle.
Proceedings Title
Proceedings of ICINCO 06 International Conference in Control
Conference Dates
August 1, 2006
Conference Location
Setubal, Portugal, 1, USA
Conference Title
International Conference in Control Automation and Robotics


4D/RCS, Control, hierarchical control, LAGR, learning, mobile robot, Mobility, Robotics & Intelligent Systems, Unmanned Systems


Albus, J. , Bostelman, R. , Hong, T. , Chang, T. , Shackleford, W. and Shneier, M. (2006), The LAGR Project. Integrating learning into the 4D/RCS Control Hierarchy, Proceedings of ICINCO 06 International Conference in Control, Setubal, Portugal, 1, USA, [online], (Accessed July 19, 2024)


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Created July 31, 2006, Updated October 12, 2021