The 4D/RCS Reference Model Architecture is a reference model for military unmanned vehicles on how their software components should be identified and organized.
The 4D/RCS has been developed by the Intelligent Systems Division (ISD) of the National Institute of Standards and Technology (NIST) since the 1980s.[1]
This reference model is based on the general Real-time Control System (RCS) Reference Model Architecture, and has been applied to many kinds of robot control, including autonomous vehicle control.
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