Development of unmanned ground vehicle for IGVC JAUS challenge

Research and development of an unmanned system for various uses is underway around the world. However, in spite of the rapidly growing market for unmanned systems, there is not yet a standard control interface for such systems. One potential standard control interface for unmanned systems is the joint architecture for unmanned systems (JAUS) originally proposed by the United States Department of Defense to develop an open architecture for unmanned systems. It is a component-based, message-passing architecture that defines a data format and methods of communication between subsystem computing nodes. This paper describes the development of a JAUS module for the IGVC JAUS challenge. Based on JAUS documents available on the Internet, we implement an actual unmanned ground system and demonstrate the validity of JAUS-compliant unmanned systems.