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Unstructured Facility Navigation by Applying the NIST 4D/RCS Architecture

Published

Author(s)

Roger V. Bostelman, Tsai Hong Hong, Tommy Chang, William P. Shackleford, Michael O. Shneier

Abstract

The National Institute of Standards and Technology s (NIST) Intelligent Systems Division (ISD) is working with the material handling industry, specifically on automated guided vehicles, to develop next generation vehicles. ISD is also a participant in the Defense Advanced Research Project Agency (DARPA) Learning Applied to Ground Robots (LAGR) Project embedding learning algorithms into the modules that make up the Four Dimensional/Real-Time Control System (4D/RCS). 4D/RCS is the standard reference model architecture which ISD has applied to control many intelligent systems. Technology from LAGR is being transferred to the material handling industry through the NIST Industrial Autonomous Vehicles Project. This paper describes the 4D/RCS structure and control applied to LAGR and the transfer of this technology through a demonstration to the automated guided vehicles industry.
Proceedings Title
International Conference on Cybernetics and Information Technologies, Systems and Application (CITSA 06) | 3rd | 4th International Conference on Computing, Communications and Control Technologies | IIIS
Conference Dates
July 20-23, 2006
Conference Title
International Conference on Cybernetics and Information Technologies, Systems and Application

Keywords

4D/RCS, automated guided vehicles, hierarchical control, industrial autonomous vehicles, LAGR, reference model architecture

Citation

Bostelman, R. , , T. , Chang, T. , Shackleford, W. and Shneier, M. (2006), Unstructured Facility Navigation by Applying the NIST 4D/RCS Architecture, International Conference on Cybernetics and Information Technologies, Systems and Application (CITSA 06) | 3rd | 4th International Conference on Computing, Communications and Control Technologies | IIIS, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823583 (Accessed June 20, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created September 5, 2006, Updated February 19, 2017