SAE AS6009A

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 a series of locations Path Segment Drivers: Performs closed loop mobility along a specified path Navigation State: Provides a consolidated and synchronized report of the position, orientation, velocity and acceleration of the vehicle Operating Zone Services: Enables setting the vehicle operating areas and keep-out areas in global or local coordinates Loiter Drivers: Performs closed-loop traversal of a definable loiter pattern centered on either a global or local coordinate GPS Fix: Monitors the status of the GPS signal and controls the acquisition of a GPS position fix 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]. 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.