This paper presents an approach to a Real-Time Control System (RCS) systems engineering methodology which complies with the RCS Reference Model Architecture developed by Robot Systems Division researchers at the National Institute of Standards and Technology (NIST). We also offer software implementation examples within the context of this RCS Methodology approach. NIST has been conducting research in the area of hierarchical real-time control systems for automation and robotics, for more than a decade. NIST researchers, working in the Automated Manufacturing Research Facility (AMRF) and on a number of other agency projects, have defined a theoretical reference model architecture as a first step in establishing a framework for standards development. This paper represents a second step toward that goal.
In this paper, we show how the 4D/RCS (Real-time Control System) architecture incorporates and integrates multiple types of disparate information into a common, unifying framework. 4D/RCS is based on the supposition that different information modeling techniques offer different advantages. 4D/RCS allows for the capability to capture information in formalisms and at levels ofabstraction that are suitablefor the way that they are expected to be usedIn the context of applying the 4D/RCS architecture to achieving the ultimate goal of the control ofautonomous ground vehicle navigation, we describe the procedural and declarative types of information that have been developed and their respective values towards achieving the goaL Experimental results of information fusion within the 4D/RCS architecture are presented from the Demo III eXperimental Unmanned Vehicles (XUIVs) in an extended series ofdemonstrations andfield tests.
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