SAE AS6009

This document defines a set of standard application layer interfaces called JAUS Mobility Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Mobility Services represent the platform-independent capabilities commonly found across all domains and types of unmanned systems. At present, 15 services are defined in this document. Some examples include:Pose Sensors: Determine the instantaneous position and orientation of a platform in global or local coordinatesVelocity State Sensor: Determines the instantaneous velocity of a platformAcceleration State Sensor: Determines the instantaneous acceleration of a platformPrimitive Driver: Performs basic mobility for a platform based on force/torque effortsVector Drivers: Perform closed loop mobility for straight line travelVelocity State Driver: Similar to vector drivers, but with additional degrees of freedomWaypoint Drivers: Perform closed loop mobility to a location specifiedWaypoint List Drivers: Performs closed loop mobility using a series of locationsPath Segment Drivers: Performs closed loop mobility along a specified pathEach service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language [JSIDL].