4-D/RCS reference model architecture for unmanned ground vehicles

4D/RCS is the reference model architecture currently being developed for the Demo III Experimental Unmanned Vehicle program. 4D/RCS integrates the NIST (National Institute of Standards and Technology) RCS (real-time control system) with the German (Universitat der Bundeswehr Munchen) VaMoRs 4D approach (3 dimensions+time) to dynamic machine vision. The 4D/RCS architecture consists of a hierarchy of computational nodes each of which contains behavior generation (BG), world modeling (WM), sensory processing (SP), and value judgement (VJ) processes. Each node also contains a knowledge database (KD) and an operator interface. These computational nodes are arranged such that the BG processes represent organizational units within a command and control hierarchy.