page_title: 4D-RCS Reference Model Architecture
section_title: Computational nodes
hierarchical_section_title: 4D-RCS Reference Model Architecture / 4D/RCS Building blocks / Computational nodes
caption_attribution_description: English: Internal structure of a RCS_NODE. The functional elements within a RCS_NODE are behavior generation, sensory processing, world modeling, and value judgment. These are supported by a knowledge database, and a communication system that interconnects the functional processes and the knowledge database. Each functional element in the node may have an operator interface. The connections to the Operator Interface enable a human operator to input commands, to override or modify system behavior, to perform various types of teleoperation, to switch control modes (e.g., automatic, teleoperation, single step, pause), and to observe the values of state variables, images, maps, and entity attributes. The Operator Interface can also be used for programming, debugging, and maintenance..
context_page_description: 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 of the National Institute of Standards and Technology since the 1980s.
  This reference model is based on the general Real-time Control System Reference Model Architecture, and has been applied to many kinds of robot control, including autonomous vehicle control.
context_section_description: The 4D/RCS nodes have internal structure such as shown in the figure. Within each node there typically are four functional elements or processes: 
  behavior generation,
  world modeling,
  sensory processing, and
  value judgment.
  There is also a knowledge database that represents the node’s best estimate of the state of the world at the
  range and resolution that are appropriate for the behavioral decisions that are the responsibility of that node.
  These are supported by a knowledge database, and a communication system that interconnects the functional processes and the knowledge database. Each functional element in the node may have an operator interface. The connections to the Operator Interface enable a human operator to input commands, to override or modify system behavior, to perform various types of teleoperation, to switch control modes (e.g., automatic, teleoperation, single step, pause), and to observe the values of state variables, images, maps, and entity attributes. The Operator Interface can also be used for programming, debugging, and maintenance.
caption: RCS NODE Internal structure.
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