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4D/RCS:
A Reference Model Architecture For
Unmanned Vehicle Systems
Version 2.0
James Albus, Hui-Min Huang, Elena Messina, Karl Murphy,
Maris Juberts, Alberto Lacaze, Stephen Balakirsky, Michael Shneier,
Tsai Hong, Harry Scott, Frederick Proctor, William Shackleford,
John Michaloski, Albert Wavering, Thomas Kramer, Nicholas Dagalakis,
William Rippey, Keith Stouffer, Steven Legowik, John Evans,
Roger Bostelman, Richard Norcross, Adam Jacoff, Sandor Szabo,
Joseph Falco, Robert Bunch, James Gilsinn, Tommy Chang, Tsung-Ming Tsai
Intelligent Systems Division
National Institute of Standards and Technology
Alexander Meystel
Drexel University and NIST
Anthony Barbera
M.L. Fitzgerald
Advanced Technology & Research Corp.
Mark Del Giorno
General Dynamics Robotic Systems, Inc.
Robert Finkelstein
Robotic Technology, Inc.
Prepared for:
The Army Research Laboratory
Demo III Program
Charles Shoemaker, Program Manager
August 2002
National Institute of Standards and Technology
Gaithersburg, Maryland 20899
