Five levels of the 4D/RCS architecture for Demo III. 
<p>On the right are Planner and Executor modules. In the center are maps for representing terrain features, road, bridges, vehicles, friendly/enemy positions, and the cost and risk of traversing various regions. On the left are Sensory Processing functions, symbolic representations of entities and events, and segmented images with labeled regions. 
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The coordinate transforms in the middle use range information to assign labeled regions in the entity image hierarchy on the left to locations on planning maps on the right. This causes the entity class hierarchy on the left to be orthogonal to the BG process hierarchy on the right.
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