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JAUS Mobility Service Set
- Aerospace Standard
- AS6009A
- Reaffirmed
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 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:
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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
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Navigation State: Provides a consolidated and synchronized report of the position, orientation, velocity and acceleration of the vehicle
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Operating Zone Services: Enables setting the vehicle operating areas and keep-out areas in global or local coordinates
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Loiter Drivers: Performs closed-loop traversal of a definable loiter pattern centered on either a global or local coordinate
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GPS Fix: Monitors the status of the GPS signal and controls the acquisition of a GPS position fix
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Inertial Sensor Control: Controls and reports the operational state of the vehicle’s inertial sensor unit
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
The rationale for this revision was that the notion of Mobility needed to be extended to include maritime vehicles and it needed to be synchronized with changes in the JAUS Core Service Set.The List manager Service was promoted to the Core; consequently, it was deleted from this document. Global and Local Pose have been updated to support additional altitude types. Depth has been added to several services to support unmanned undersea vehicles (UUVs). The following services have been added: Navigation State Service, Global Loiter Driver Service, Local Loiter Driver Service, Global Operating Zone Service, Local Operating Zone Service, GPS Fix Service, and an Inertial Sensor Control Service.
AS6009A has been reaffirmed to comply with the SAE Five-Year Review policy.
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 | Global pose sensor service vocabulary | |
| Table 2 | Global pose sensor service state transition table | |
| Table 4 | Global pose sensor service transition actions | |
| Table 5 | Local pose sensor service vocabulary | |
| Table 6 | Local pose sensor service state transition table | |
| Table 8 | Local pose sensor service transition actions | |
| Table 9 | Velocity state sensor service vocabulary | |
| Table 10 | Velocity state sensor service state transition table | |
| Table 11 | Velocity state sensor service transition actions | |
| Table 12 | Acceleration state sensor service vocabulary | |
| Table 13 | Acceleration state sensor service state transition table | |
| Table 14 | Acceleration state sensor service transition actions | |
| Table 15 | Primitive driver service vocabulary | |
| Table 17 | Primitive driver service transition table | |
| Table 19 | Primitive driver service transition actions | |
| Table 20 | Global vector driver service vocabulary | |
| Table 22 | Global vector driver service transition table | |
| Table 24 | Global vector driver service transition actions | |
| Table 25 | Local vector driver service vocabulary | |
| Table 27 | Local vector driver service transition table | |
| Table 29 | Local vector driver service transition actions | |
| Table 30 | Global waypoint driver service vocabulary | |
| Table 32 | Global waypoint driver service transition table | |
| Table 33 | Global waypoint driver service state conditions table | |
| Table 34 | Global waypoint driver service transition action | |
| Table 35 | Local waypoint driver service vocabulary | |
| Table 37 | Local waypoint driver service transition table | |
| Table 38 | Local waypoint driver service state conditions table | |
| Table 39 | Local waypoint driver service transition actions | |
| Table 40 | Global waypoint list driver service vocabulary | |
| Table 42 | Global waypoint list driver service transition table | |
| Table 43 | Global waypoint list driver service state conditions table | |
| Table 44 | Global waypoint list driver service transition actions | |
| Table 45 | Local waypoint list driver service vocabulary | |
| Table 47 | Local waypoint list driver service transition table | |
| Table 48 | Local waypoint list driver service state conditions table | |
| Table 49 | Local waypoint list driver service transition actions | |
| Table 50 | Global path segment driver service vocabulary | |
| Table 52 | Global path segment driver service transition table | |
| Table 53 | Global path segment driver service state conditions table | |
| Table 54 | Global path segment driver service transition actions | |
| Table 55 | Local path segment driver service vocabulary | |
| Table 57 | Local path segment driver service transition table | |
| Table 58 | Local path segment driver service state conditions table | |
| Table 59 | Local path segment driver service transition actions | |
| Table 60 | Velocity state driver service vocabulary | |
| Table 62 | Velocity state driver service transition table | |
| Table 63 | Velocity state driver service state conditions table | |
| Table 64 | Velocity state driver service transition actions | |
| Table 65 | Navigation state service vocabulary | |
| Table 68 | Global operating zone service vocabulary | |
| Table 70 | Global operating zone service transition table | |
| Table 71 | Global operating zone service state conditions table | |
| Table 72 | Global operating zone service transition actions | |
| Table 73 | Local operating zone service vocabulary | |
| Table 75 | Local operating zone service transition table | |
| Table 76 | Local operating zone service state conditions table | |
| Table 77 | Local operating zone service transition actions | |
| Table 78 | Global loiter service vocabulary | |
| Table 80 | Global loiter driver service transition table | |
| Table 81 | Global loiter driver service state conditions table | |
| Table 82 | Global loiter driver service transition actions | |
| Table 83 | Local loiter service vocabulary | |
| Table 85 | Local loiter driver service transition table | |
| Table 86 | Local loiter driver service state conditions table | |
| Table 87 | Local loiter driver service transition actions | |
| Table 88 | GPSFix service vocabulary | |
| Table 90 | GPSFix service transition table | |
| Table 92 | GPSFix service transition actions | |
| Table 93 | Inertial sensor control service vocabulary | |
| Table 94 | Inertial sensor control service transition table | |
| Table 96 | Inertial sensor control service transition actions | |
| Table 97 | Set global pose message encoding | |
| Table 98 | Set global pose ext message encoding | |
| Table 99 | Set local pose message encoding | |
| Table 100 | Set local pose ext message encoding | |
| Table 101 | Set wrench effort message encoding | |
| Table 102 | Set global vector message encoding | |
| Table 103 | Set global vector ext message encoding | |
| Table 104 | Set local vector message encoding | |
| Table 105 | Set local vector ext message encoding | |
| Table 108 | Set global waypoint message encoding | |
| Table 109 | Set global waypoint ext message encoding | |
| Table 110 | Set local waypoint message encoding | |
| Table 111 | Set local waypoint ext message encoding | |
| Table 112 | Set global path segment message encoding | |
| Table 113 | Set global path segment ext message encoding | |
| Table 114 | Set local path segment message encoding | |
| Table 115 | Set local path segment ext message encoding | |
| Table 117 | Set velocity command message encoding | |
| Table 118 | Set velocity command ext message encoding | |
| Table 119 | Set acceleration limit message encoding | |
| Table 121 | Set global operating zone message encoding | |
| Table 122 | Set local operating zone message encoding | |
| Table 123 | Set global loiter message encoding | |
| Table 124 | Set local loiter message encoding | |
| Table 127 | Execute list message encoding | |
| Table 128 | Execute list ext message encoding | |
| Table 134 | Query velocity state ext message encoding | |
| Table 151 | Query velocity command message encoding | |
| Table 152 | Query velocity command ext message encoding | |
| Table 153 | Query acceleration limit message encoding | |
| Table 156 | Query navigation message encoding | |
| Table 166 | Report global pose ext message encoding | |
| Table 168 | Report local pose ext message encoding | |
| Table 169 | Report velocity state message encoding | |
| Table 170 | Report velocity state ext message encoding | |
| Table 190 | Report acceleration state message encoding | |
| Table 191 | Report acceleration state ext message encoding | |
| Table 192 | Report navigation message encoding | |
| Table 195 | Report excursion message encoding | |
| Table 198 | Report GPSFix message encoding | |
| Table 199 | Report inertial sensor status 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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