Representative Architectures

Representative Architectures

As mentioned in Part I an architecture is a method of implementing a paradigm,
of embodying the principles in some concrete way. Ideally, an architecture
is generic; like a good object-oriented programdesign, it should have
many reusable pieces for other robot platforms and tasks.
Possibly the two best known architectures of the Hierarchical period are
the Nested Hierarchical Controller (NHC) developed by Meystel93 and the
NIST Realtime Control System (RCS) originally developed by Albus,1 with
its teleoperation version for JPL called NASREM.