Development of JAUS-compliant controller using Python

JAUS was originally defined by the United States Department of Defense for enhanced interoperability between different types of unmanned systems and controllers. In order for unmanned systems to accomplish various missions, messages are defined based on the JAUS Reference Architecture. In this paper, we describe a JAUS-compliant controller for the JAUS Challenge in the Intelligent Ground Vehicle Competition (IGVC). To achieve rapid controller version-up during the competition, we employed Python language and MATLAB, a combination that enabled rapid modification during the debugging process. The validity of the proposed approach was verified through the IGVC 2011 competition.