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| Keywords: 4D-RCS control loop basic internal structure.jpg en The basic internal structure of a 4D/RCS control loop Sensory processing performs the functions of windowing grouping computation estimation and classification on input from sensors World modeling maintains knowledge in the form of images maps entities and events with states attributes and values Relationships between images maps entities and events are defined by pointers These relationships include class membership ontologies situations and inheritance Value judgment provides criteria for decision making Behavior generation is responsible for planning and execution of behaviors 4D-RCS A Reference Model Architecture For Unmanned Vehicle Systems Version 2 0 Albus et al National Institute of Standards and Technology Gaithersburg Maryland 20899 2002-08 PD-USGov 4D-RCS Reference Model Architecture | ||||
