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JAUS Autonomous Capabilities Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS8024
  • Current
Published 2019-06-10 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Autonomous Capabilities 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 Autonomous Behaviors Services represent the platform-independent capabilities commonly found in platforms across domains, including air, maritime, and ground. At present five (5) services are defined in this document. These services are: Comms Lost Policy Manager: Detect and recover from loss of communications with a control station Retrotraverse: Return along a path previously traveled Self-Righting: Attempt to recover from a tip over condition Cost Map 2D: Provides information about the current operating environment of the platform Path Reporter: Provides information about the previous or future planned path of the platform
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JAUS / SDP Transport Specification

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS5669A
  • Current
Published 2019-04-22 by SAE International in United States
This SAE Aerospace Standard (AS) specifies a data communications layer for the transport of messages defined by the Joint Architecture for Unmanned Systems (JAUS) or other Software Defined Protocols (SDP). This Transport Specification defines the formats and protocols used for communication between compliant entities for all supported link-layer protocols and media. Although JAUS is the SDP used as the example implemented throughout this document, AS5669 can be used for any SDP that meets the required capabilities. A Software Defined Protocol is defined as an application data interface for communicating between software elements. The SDP is agnostic of the underlying communications protocol and in fact communicates in much the same manner regardless if the communicating entities are collocated in the same memory space or separated by a satellite link.
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JAUS Manipulator Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6057A
  • Current
Published 2019-04-22 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Manipulator 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 Manipulator Services represent platform-independent capabilities commonly found across domains and types of unmanned systems. At present, twenty-five (25) services are defined in this document. These services are categorized as: Low Level Manipulator Control Services – The one service in this category allows for low-level command of the manipulator joint actuation efforts. This is an open-loop command that could be used in a simple tele-operation scenario. The service in this category is listed as follows: Primitive Manipulator Service Manipulator Sensor Services – These services, when queried, return instantaneous sensor data. Three services are defined that return respectively joint positions, joint velocities, and joint torques or forces. Two additional services return the end effector pose and velocity with respect to the manipulator base coordinate frame. The services in this category are listed as follows: Manipulator Joint Position Sensor Service…
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Unmanned Systems Terminology Based on the ALFUS Framework

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • ARP6128
  • Current
Published 2019-04-22 by SAE International in United States
This SAE Aerospace Recommended Practice (ARP) describes terminology specific to unmanned systems (UMSs) and definitions for those terms. It focuses only on terms used exclusively for the development, testing, and other activities regarding UMSs. It further focuses on the autonomy and performance measures aspects of UMSs and is based on the participants’ earlier work, the Autonomy Levels for Unmanned Systems (ALFUS) Framework, published as NIST Special Publication 1011-I-2.0 and NIST Special Publication 1011-II-1.0. This Practice also reflects the collaboration results with AIR5665. Terms that are used in the community but can be understood with common dictionary definitions are not included in this document. Further efforts to expand the scope of the terminology are being planned.
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JAUS Unmanned Ground Vehicle Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6091
  • Current
Published 2019-04-22 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Unmanned Ground Vehicle 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 Unmanned Ground Vehicle Services represent the platform-specific capabilities commonly found in UGVs, and augment the Mobilty Service Set [AS6009] which is platform-agnostic. At present ten (10) services are defined in this document. These services are categorized as:
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JAUS Messaging over the OMG Data Distribution Service (DDS)

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • ARP6227
  • Current
Published 2018-08-23 by SAE International in United States
This document defines a standard representation of JAUS AS5684A message data in DDS IDL defined by the Object Management Group (OMG) CORBA 3.2 specification. This document does NOT address how JAUS transport considerations or JAUS service protocols are implemented on OMG DDS platforms.
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Architecture Framework for Unmanned Systems

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AIR5665B
  • Current
Published 2018-08-23 by SAE International in United States
This SAE Aerospace Information Report (AIR) describes the Architecture Framework for Unmanned Systems (AFUS). AFUS comprises a Conceptual View, a Capabilities View, and an Interoperability View. The Conceptual View provides definitions and background for key terms and concepts used in the unmanned systems domain. The Capabilities View uses terms and concepts from the Conceptual View to describe capabilities of unmanned systems and of other entities in the unmanned systems domain. The Interoperability View provides guidance on how to design and develop systems in a way that supports interoperability.
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JAUS Mission Spooling Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6062A
  • Current
Published 2018-08-16 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Mission Spooling 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 Mission Spooling Services represent the physical platform-independent capabilities commonly found across all domains and types of unmanned systems. At present, one service is defined in this document (more services are planned for future versions of this document): Mission Spooler: Stores, manages, and executes lists of tasks The Mission Spooler service is described by a JAUS Service Definition (JSD) which specifies the message set and message protocol required for compliance. The JSD is fully compliant with the JAUS Service Interface Definition Language (JSIDL).
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JAUS Mobility Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6009A
  • Current
Published 2017-11-09 by SAE International in United States
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 coordinates Velocity State Sensor: Determines the instantaneous velocity of a platform Acceleration State Sensor: Determines the instantaneous acceleration of a platform Primitive Driver: Performs basic mobility for a platform based on force/torque efforts Vector Drivers: Perform closed loop mobility for straight line travel Velocity State Driver: Similar to vector drivers, but with additional degrees of freedom Waypoint Drivers: Perform closed loop mobility to a location specified Waypoint List Drivers: Performs closed loop mobility using…
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JAUS Service Interface Definition Language

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS5684B
  • Current
Published 2015-08-21 by SAE International in United States
The SAE Aerospace Information Report AIR5315 – Generic Open Architecture (GOA) defines “a framework to identify interface classes for applying open systems to the design of a specific hardware/software system.” [sae] JAUS Service (Interface) Definition Language defines an XML schema for the interface definition of services at the Class 4L, or Application Layer, and Class 3L, or System Services Layer, of the Generic Open Architecture stack (see Figure 1). The specification of JAUS services shall be defined according to the JAUS Service (Interface) Definition Language document.
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