SAE AS6009A

This document defines a set of standard application layer interfaces calledJAUS Mobility Services.

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 vehicle platform-independent capabilities commonly found across all domains and types of unmanned systems (referred to as UxVs). At present, over 15 services are defined in this document many of which were updated in this revision to support Unmanned Underwater Vehicles (UUVs). 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 pathNavigation State: Provides a consolidated and synchronized report of the position, orientation, velocity and acceleration of the vehicleOperating Zone Services: Enables setting the vehicle operating areas and keep-out areas in global or local coordinatesLoiter Drivers: Performs closed-loop traversal of a definable loiter pattern centered on either a global or local coordinateGPS Fix: Monitors the status of the GPS signal and controls the acquisition of a GPS position fixInertial Sensor Control: Controls and reports the operational state of the vehicle’s inertial sensor unitEach 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].