1. Execution (Control Systems) Tactical Strategic Knowledge Mission Specs Path Generator (Splining) Control Rules Past Features Past Maneuvers Physics Model Situated Model (Context Switch) IsMoving? RaceStarted? NearCliff? OnRoad? Contexts Example: Starting Gate Knowledge Masks Knowledge Selectors Knowledge Selectors Voting Sensor Analyzer Features Proposal for IRRT Control Architecture (Draft 1.0) Todd Holloway Commander (Features + Context) Actuator ReactionsNavigator

2. Contexts Interface between system components and system knowledge Starting Area, Lake Bed, Climbing Hill, Cliff-side Road, Water, Failure Modes, etc. Multiple contexts simultaneously (?) Contexts Example: Starting Gate Knowledge Masks Knowledge Selectors Knowledge Selectors Voting

3. Model Only purpose is to identify when context(s) need to be changed Needs to be continually updated Simplistic, does need to include all features that may come from sensors Hard-coded vs. Learned Situated Model (Context Switch) IsMoving? RaceStarted? NearCliff? OnRoad?

4. System Knowledge Mission specification: Start, Goals, Waypoints, Corridors Path Generator (Splining Model) Case Bases: Past features detected, actions, routes to aid and speed up decision making as well as fill in gaps in driving model Hand coded (or learned) control rules and case adaptation rules A driving (physics) model specifying action/change Knowledge Mission Specs Path Generator (Splining) Control Rules Past Features Past Maneuvers Physics Model

5. Analyzers Feature detection, object recognition, etc. May use knowledge, as accessible in the current context, to aid these tasks Sensor Analyzer

6. Commander Purpose is to select actions that should be performed Handles voting (within the current context) among input features and between reacting immediately or consulting the navigator. Decides how long (within the current context) before issuing the next actions to perform. That is, it decides when to cut off the navigator as it devises a solution. Commander (Features + Context) Actuator ReactorNavigator