. wad sop t i t es, ucessii.; _ SIMMS Ake AC11, A I the, Fig. 4.11: Albus's 4D-RCS architecture for a single vehicle 4.5.5 PolyScheme 5 B Nick Cassimatis's PolyScheme architecture ras07] shares with GLAIR the use of multiple logical reasoning methods on a common knowledge store. While its underlying ide