The fundamental structure of a 4D/RCS control loop. 
<p>An internal world model of the external world provides support to both perception and behavior. Sensors measure properties of the external world. Perception extracts the information necessary to keep the world model current and accurate from the sensory data stream. 
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Behavior uses the world model to decompose goals into appropriate action.
Albus et al. National Institute of Standards and Technology, Gaithersburg, Maryland 20899
2002-08
4D-RCS A Reference Model Architecture For Unmanned Vehicle Systems Version 2.0