Figure 1.: A high level block diagram of a typical 4D/RCS reference model architecture
Figure 2. The fundamental structure of a 4D/RCS control loop
Figure 3. The basic internal structure of a 4D/RCS control loop
Figure 4. Internal structure of a RCS_NODE
Figure 5. A 4D/RCS reference model architecture for an individual vehicle
Figure 6. Three views of the 4D/RCS architecture
Figure 7. Five levels of the 4D/RCS architecture for Demo III.
Figure 8. The command and plan structure for Demo III.
Figure 9. A typical 4D/RCS computational node, RCS_NODE
Figure 10. Internal structure of Behavior Generation (BG) processes 61
Figure 11. Two forms of plan representations
Figure 12. A task plan for three agents
Figure 13. A diagram of planning operations within a 4D/RCS node
Figure 14. The inner structure of the Executor (EX) subprocess
Figure 15. A 4D/RCS timing diagram
Figure 16. Replanning at T(i)/10 intervals
Figure 17. World Modeling (WM) and Value Judgment (VJ) processes
Figure 18. The structure of a typical entity frame
Figure 19. An entity frame
Figure 20. An entity prototype
Figure 21. Attribute, entity, class, and value images
Figure 22. Relationship between entity images and entity frames
Figure 23. A sensor egosphere for a camera
Figure 24. Two views of a velocity egosphere
Figure 25. A 2-D top down projection of four egosphere representations
Figure 26. A Mercator projection of the head egosphere
Figure 27. The structure of a typical event frame
Figure 28. Grouping of subevents into events along the time line
Figure 29. A timing diagram for 4D/RCS
Figure 30. Data structures in immediate experience, short term, and long term memory
Figure 31. Pointers between entity images and entity frames
Figure 32. The network of relationships between images and entity frames
Figure 33. Image processing functions and data flow at a typical level in the SP hierarchy
Figure 34. Relationships within a typical node of the 4D/RCS architecture
Figure 35. Interaction between sensory processing (SP) and world modeling (WM)
Figure 36. Basic scheme for 4-D image sequence understanding
Figure 37. A combination of the 4-D approach with RCS [redrawn from Dickmanns 96]
Figure 38. Another view of the 4-D approach [from Dickmanns 96]
Figure 39. The 4-D recursive estimation concept integrated with a generic RCS BG process
Figure 40. The 4D/RCS for a generic level
Figure 41. Image processing at level 1
Figure 42. Image processing at level 2
Figure 43. An example of the 4D/RCS Generic Shell
Figure 44. Generic shell BG modules at the Subsystem, Primitive, and Servo levels