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JAUS Mobility Service Set
- Aerospace Standard
- AS6009
- Issued
Downloadable datasets available
Annotation ability available
Sector:
Issuing Committee:
Language:
English
Scope
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:
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Pose Sensors: Determine the instantaneous position and orientation of a platform in global or local coordinates
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Velocity State Sensor: Determines the instantaneous velocity of a platform
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Acceleration State Sensor: Determines the instantaneous acceleration of a platform
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Primitive Driver: Performs basic mobility for a platform based on force/torque efforts
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Vector Drivers: Perform closed loop mobility for straight line travel
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Velocity State Driver: Similar to vector drivers, but with additional degrees of freedom
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Waypoint Drivers: Perform closed loop mobility to a location specified
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Waypoint List Drivers: Performs closed loop mobility using a series of locations
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Path Segment Drivers: Performs closed loop mobility along a specified path
Each 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].
Rationale
This document, the JAUS Mobility Service Set (AS6009), defines a message-passing interface for services commonly found in mobile unmanned systems. These services represent the platform-independent capabilities common across all platform types. Additional capabilities are specified in the JAUS Core Service Set (AS5710) and are frequently referenced herein.
Recommended Content
| Aerospace Standard | JAUS Core Service Set |
| Aerospace Standard | JAUS / SDP Transport Specification |
Topic
Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 | ||
| Unnamed Dataset 2 | ||
| TABLE 1 | LIST MANAGER SERVICE VOCABULARY | |
| TABLE 2 | LIST MANAGER SERVICE TRANSITION TABLE | |
| TABLE 3 | LIST MANAGER SERVICE STATE CONDITIONS TABLE | |
| TABLE 4 | LIST MANAGER SERVICE TRANSITION ACTIONS | |
| TABLE 5 | GLOBAL POSE SENSOR SERVICE VOCABULARY | |
| TABLE 6 | GLOBAL POSE SENSOR SERVICE STATE TRANSITION TABLE | |
| TABLE 8 | GLOBAL POSE SENSOR SERVICE TRANSITION ACTIONS | |
| TABLE 9 | LOCAL POSE SENSOR SERVICE VOCABULARY | |
| TABLE 10 | LOCAL POSE SENSOR SERVICE STATE TRANSITION TABLE | |
| TABLE 12 | LOCAL POSE SENSOR SERVICE TRANSITION ACTIONS | |
| TABLE 13 | VELOCITY STATE SENSOR SERVICE VOCABULARY | |
| TABLE 16 | ACCELERATION STATE SENSOR SERVICE VOCABULARY | |
| TABLE 19 | PRIMITIVE DRIVER SERVICE VOCABULARY | |
| TABLE 20 | PRIMITIVE DRIVER SERVICE TRANSITION TABLE | |
| TABLE 22 | PRIMITIVE DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 23 | GLOBAL VECTOR DRIVER SERVICE VOCABULARY | |
| TABLE 24 | GLOBAL VECTOR DRIVER SERVICE TRANSITION TABLE | |
| TABLE 26 | GLOBAL VECTOR DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 27 | LOCAL VECTOR DRIVER SERVICE VOCABULARY | |
| TABLE 28 | LOCAL VECTOR DRIVER SERVICE TRANSITION TABLE | |
| TABLE 30 | LOCAL VECTOR DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 31 | GLOBAL WAYPOINT DRIVER SERVICE VOCABULARY | |
| TABLE 33 | GLOBAL WAYPOINT DRIVER SERVICE TRANSITION TABLE | |
| TABLE 34 | GLOBAL WAYPOINT DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 35 | GLOBAL WAYPOINT DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 36 | LOCAL WAYPOINT DRIVER SERVICE VOCABULARY | |
| TABLE 38 | LOCAL WAYPOINT DRIVER SERVICE TRANSITION TABLE | |
| TABLE 39 | LOCAL WAYPOINT DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 40 | LOCAL WAYPOINT DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 41 | GLOBAL WAYPOINT LIST DRIVER SERVICE VOCABULARY | |
| TABLE 43 | GLOBAL WAYPOINT LIST DRIVER SERVICE TRANSITION TABLE | |
| TABLE 44 | GLOBAL WAYPOINT LIST DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 45 | GLOBAL WAYPOINT LIST DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 46 | LOCAL WAYPOINT LIST DRIVER SERVICE VOCABULARY | |
| TABLE 48 | LOCAL WAYPOINT LIST DRIVER SERVICE TRANSITION TABLE | |
| TABLE 49 | LOCAL WAYPOINT LIST DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 50 | LOCAL WAYPOINT LIST DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 51 | GLOBAL PATH SEGMENT DRIVER SERVICE VOCABULARY | |
| TABLE 53 | GLOBAL PATH SEGMENT DRIVER SERVICE TRANSITION TABLE | |
| TABLE 54 | GLOBAL PATH SEGMENT DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 55 | GLOBAL PATH SEGMENT DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 56 | LOCAL PATH SEGMENT DRIVER SERVICE VOCABULARY | |
| TABLE 58 | LOCAL PATH SEGMENT DRIVER SERVICE TRANSITION TABLE | |
| TABLE 59 | LOCAL PATH SEGMENT DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 60 | LOCAL PATH SEGMENT DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 61 | VELOCITY STATE DRIVER SERVICE VOCABULARY | |
| TABLE 63 | VELOCITY STATE DRIVER SERVICE TRANSITION TABLE | |
| TABLE 64 | VELOCITY STATE DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 65 | VELOCITY STATE DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 66 | SET GLOBAL POSE MESSAGE ENCODING | |
| TABLE 67 | SET LOCAL POSE MESSAGE ENCODING | |
| TABLE 68 | SET WRENCH EFFORT MESSAGE ENCODING | |
| TABLE 69 | SET GLOBAL VECTOR MESSAGE ENCODING | |
| TABLE 70 | SET LOCAL VECTOR MESSAGE ENCODING | |
| TABLE 71 | SET TRAVEL SPEED MESSAGE ENCODING | |
| TABLE 72 | SET GLOBAL WAYPOINT MESSAGE ENCODING | |
| TABLE 73 | SET LOCAL WAYPOINT MESSAGE ENCODING | |
| TABLE 74 | SET GLOBAL PATH SEGMENT MESSAGE ENCODING | |
| TABLE 75 | SET LOCAL PATH SEGMENT MESSAGE ENCODING | |
| TABLE 76 | SET GEOMAGNETIC PROPERTY MESSAGE ENCODING | |
| TABLE 77 | SET VELOCITY COMMAND MESSAGE ENCODING | |
| TABLE 78 | SET ACCELERATION LIMIT MESSAGE ENCODING | |
| TABLE 79 | SET ELEMENT MESSAGE ENCODING | |
| TABLE 80 | DELETE ELEMENT MESSAGE ENCODING | |
| TABLE 81 | CONFIRM ELEMENT REQUEST MESSAGE ENCODING | |
| TABLE 82 | REJECT ELEMENT REQUEST MESSAGE ENCODING | |
| TABLE 83 | EXECUTE LIST MESSAGE ENCODING | |
| TABLE 84 | QUERY GLOBAL POSE MESSAGE ENCODING | |
| TABLE 85 | QUERY LOCAL POSE MESSAGE ENCODING | |
| TABLE 86 | QUERY VELOCITY STATE MESSAGE ENCODING | |
| TABLE 87 | QUERY WRENCH EFFORT MESSAGE ENCODING | |
| TABLE 88 | QUERY GLOBAL VECTOR MESSAGE ENCODING | |
| TABLE 89 | QUERY LOCAL VECTOR MESSAGE ENCODING | |
| TABLE 91 | QUERY GLOBAL WAYPOINT MESSAGE ENCODING | |
| TABLE 92 | QUERY LOCAL WAYPOINT MESSAGE ENCODING | |
| TABLE 93 | QUERY GLOBAL PATH SEGMENT MESSAGE ENCODING | |
| TABLE 94 | QUERY LOCAL PATH SEGMENT MESSAGE ENCODING | |
| TABLE 96 | QUERY VELOCITY COMMAND MESSAGE ENCODING | |
| TABLE 97 | QUERY ACCELERATION LIMIT MESSAGE ENCODING | |
| TABLE 98 | QUERY ACCELERATION STATE MESSAGE ENCODING | |
| TABLE 99 | QUERY ELEMENT MESSAGE ENCODING | |
| TABLE 105 | REPORT VELOCITY STATE MESSAGE ENCODING | |
| TABLE 117 | REPORT ACCELERATION STATE MESSAGE ENCODING | |
| TABLE 119 | REPORT ELEMENT LIST MESSAGE ENCODING | |
| TABLE 120 | REPORT ELEMENT COUNT MESSAGE ENCODING | |
| TABLE 121 | REPORT ACTIVE ELEMENT MESSAGE ENCODING |
Issuing Committee
AS-4JAUS Joint Architecture for Unmanned Systems Committee
The AS-4JAUS Technical Committee supports the charter of AS-4 (Unmanned Systems) by developing standards enabling external and internal interoperability between Unmanned Systems and their subsystems and payloads. JAUS employs a service oriented architecture approach, representing unmanned system capabilities as defined services with defined message-based interfaces. The standardization of these service and interface definitions facilitates the development of modular systems with increased interoperability; the use of standard services and their interfaces also facilitates rapid technology insertion.
Reference
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