JAUSIGVCChallengeEntry

Christopher Granz
May 3, 2012

Attach:cgranz_jaus_igvc_challenge.pdf

JAUS IGVC Challenge Entry

Overview

This project is an implementation of the Joint Architecture for Unmanned Systems (JAUS) standard to fulfill the Intelligent Ground Vehicle Competition (IGVC) Challenge. It consists of a ROS node that communicates with the judges' JAUS system and our ROS architecture running on our robot "Stark."

Photograph

Concepts Demonstrated

  • Standardization of a robot's input and output.
  • High-level control is implemented, allowing a robot to handle local details.
  • A Test Interface is implemented to control a robot using the JAUS standard.

Innovation

This project is innovative in the sense that it is a unique implementation of a well defined abstraction layer. There is no standard JAUS interface node in ROS, and this project provides a re-usable node for this purpose. The ROS node may be updated and used as a basis for future entries in the IGVC.

Technology Used Block Diagram

Create a simple block diagram of your system that illustrates the major technical components and how they interact; e.g.:

Additional Remarks

This project has a specific purpose: to fulfill the JAUS requirements set forth in the IGVC rules for the 2012 competition. To test the implementation, a non-ROS test program was also created to communicate with the JAUS-ROS interface node.