Albus 1998 : 4-D/RCS is a reference model architecture that integrates the NIST (National Institute of Standards and Technology) RCS Real-time Control System with the VaMoRs 4D approach to dynamic machine vision. 4-D/RCS will provide the DOD Demo III project with an open system operational architecture that will facilitate the integration of a wide variety of subsystems. These include: (1) a foveal/peripheral CCD color camera pair, (2) a laser range imager, (3) a MAPS inertial guidance package, (4) a GPS satellite navigation system, (5) stereo image processing algorithms developed at the NASA Jet Propulsion Lab, and (6) a HMMWV telerobotic driving system with interfaces for a wide variety of mission packages.