M.3.4 Coarse block diagram of system integration
The structural principles discussed in the previous sections lead to the coarse block diagram given here:
Only the lowest bar (vehicle hardware with sensors and actuators attached) represents physical units with mass and inertia. All blocks above it deal with information from different sources (lower left, arrows upward); these signals are partly fused and compared to corresponding information derived from different knowledge bases. ‘Dynamic Knowledge Representation’ (DKR, central horizontal bar) consists of three elements shown as an interrupted rectangular horizontal box in the vertical center: The Dynamic Object data Base (DOB, left), the actually valid mission element (horizontal center), and the representation of capabilities (right).
Above this bar, the ‘mental decision processes’ are shown: Situation assessment (SA) based on data in the DOB and in the actual mission element (left side); depending on SA output, Behavior Decision for Gaze and Attention (BDGA, red) as well as Behavior Decision for Locomotion (BDL, blue at right) are done on an abstract basis (‘continue’ or ‘switch to …’). These signals lead to control implementation in separate processors close to the actuator hardware that receive measurement signals with minimal time delay (rounded rectangles in vertical center right; direct feedback is not shown explicitly). Gaze control (red) and Vehicle locomotion control (blue) are completely separate paths with very different characteristics, usually.