Model Architecture for Intelligent Unmanned Ground Vehicles

4D/RCS consists of a multi-layered multi-resolutional hierarchy of computational nodes each containing elements of sensory processing (SP), world modeling (WM), value judgment (VJ), and behavior generation (BG). At the lower levels, these elements generate goal-seeking reactive behavior. At higher levels, they enable goal-defining deliberative behavior. Throughout the hierarchy, interaction between SP, WM, VJ, and BG give rise to perception, cognition, imagination, and reasoning. At low levels, range in space and time is short and resolution is high. At high levels, distance and time are long and resolution is low. This enables high-precision fast-action response over short intervals of time and space at low levels, while long-range plans and abstract concepts are being formulated over broad regions of time and space at high levels.

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