Mission structure for an unmanned vehicle

The 4D real-time control systems architecture (4D/RCS) defines a hierarchical decomposition for intelligent systems, with corresponding command and control pathways. In order to design the vehicle's behavior generation functions, we developed a set of task commands, goals, and actions that are organized hierarchically to form the basic vocabulary for planning and control of the vehicle. This paper documents the basic tasks and vocabulary for a scout platoon implemented according to 4D/RCS.