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This document defines a set of standard application layer interfaces called JAUS HMI 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 HMI Services represent the platform-independent Human Machine Interface (HMI) capabilities commonly found across all domains and types of unmanned systems. Five services are defined in this document: Drawing Pointing Device Keyboard Digital Control Analog Control 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) [AS5684].

This document defines a set of standard application layer interfaces called JAUS Core 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 Core Services represent the infrastructure commonly found across all domains and types of unmanned systems.

This document defines a set of standard application layer1 interfaces called JAUS Core 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 Core Services represent the infrastructure commonly found across all domains and types of unmanned systems.

This document defines a set of standard application layer interfaces called JAUS Core 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 Core Services represent the infrastructure commonly found across all domains and types of unmanned systems.

This document defines a set of standard application layer interfaces called JAUS Environment Sensing 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 Environment Sensing Services represent typical environment sensing capabilities commonly found across all domains and types of unmanned systems in a platform-independent manner.

This document defines a set of standard application layer interfaces called JAUS Environment Sensing 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 Environment Sensing Services represent typical environment sensing capabilities commonly found across all domains and types of unmanned systems in a platform-independent manner.

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.

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 the platform-independent capabilities commonly found across all domains and types of unmanned systems. At present, nineteen (19) 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.

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:

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.

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 platform-independent capabilities commonly found across all domains and types of unmanned systems. At present, 1 service is defined in this document (more services are planned for future versions of this document): Mission Spooler: Stores mission plans, coordinates mission plans, and parcels out elements of the mission plan for execution The Mission Spooler service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. The JSD is fully compliant with the JAUS Service Interface Definition Language [JSIDL].

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