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【范围】
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The primary goal of the JAUS Mobility Service Set is logical interoperability between communicating elements in an
unmanned system. To this end, each service defines the messages (vocabulary) and protocol (rules) for data exchange.
This logical interoperability is independent of the physical transport, and it is expected that a Transport Standard, such as
the JAUS Transport Specification [AS5669], is used in conjunction with this specification.
Each service in the JAUS Mobility Service Set is described using the JAUS Service Interface Definition Language [JSIDL].
JSIDL creates a formal schema based on Relax NG Compact [rng] that allows for validation of each service definition
described herein. Although knowledge of JSIDL is not required to understand or implement this Specification, it is highly
recommended for supporting context. For convenience, the JAUS Mobility Service Set contains both a text based and
XML based representation for each service.
The services defined herein should replace the equivalent sets of messages defined in the latest JAUS Reference
Architecture Version 3.3 [RA33P1, RA33P2, RA33P3] when used with AS5669, revision A. This Standard has been
carefully designed to allow for the simplest possible migration of RA 3.3 implementations to a services-based framework.
Even though the notion of services has come to define formal interfaces between components, the message sets in those
services trace back to identical messages in the Reference Architecture.
This document uses a number of conventions to simplify the text. All names are given in Camel Case. Names start with
upper case, while reference names start with a lower case.
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 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 a series of locations
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].
1.2 JAUS Core Service Set
The JAUS Service Definitions defined herein make use of the inheritance functionality provided by JSIDL to incorporate
capabilities as specified by the JAUS Core Service Set (AS5710). These documents must be used together to define a
complete service. It is important to note that details related to ‘Message Serialization’ and ‘Understanding Protocol
Descriptions’ can be found in the JAUS Core Service Set document, and are not repeated here.
1.3 Compliance
The JAUS Mobility Service Set must support compliance assessment. To do so, this specification must be sufficiently
precise to enable the “compliant”/”not compliant” distinction to be made independently of the underlying transport
mechanism. An implementation is considered compliant to a Service Definition if it provides the complete vocabulary and
protocol as defined within this Specification ; it is not necessary that a single entity realize every Service to be considered
compliant.
1.4 Document Organization
The layout of this document is as follows. Section 2 lists external references used throughout the specification. Section 3
specifies common conventions and definitions. Section 4 specifies the JAUS Service Definition for each of the mobility
services, with particular emphasis on the description, assumptions, message set, and protocol behavior. Section 5
describes the message encoding for each message set. Finally, Appendix A and Appendix B contain the complete JSIDL
representation for each service and their associated message set.
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