voluntary movement of the platform and must be distinguished from possible inputs

produced by the platform itself. The platform fused stereovision; and tactile and pressure

sensors to build an accurate data model of the terrain to traverse.

 Another application of the biomorphic concept is the work of Talebi, et al. [8]. They

constructed a quadruped platform that has only one actuator per leg coupled with

compliant prismatic joints. Therefore, as an animal would, the platform climbs a stair

dynamically. As the leg contacts the stair, ground forces cause the joint spring to

compress; and the effective length of the leg is reduced.

 Perhaps the most stable solution for the stair-climbing problem, when the

development of the platform permits, is to tailor the geometry to accommodate the stair

climbing motion. Lauria, et al. [9] took this approach in developing their vehicle,

Octopus. The platform consists of eight motorized, tactile wheels and a tilt sensor; and

has a total of fifteen degrees of freedom. The platform geometry allows for all eight

wheels to be in contact with the ground at all times, regardless of the terrain profile;

allowing for relatively simple travel of the platform across any uneven terrain, stairways

included.

 1.3 The Joint Architecture for Unmanned Systems (JAUS)

 This section provides a functional description of the Joint Architecture for Unmanned

Systems (JAUS). The technical constraints on the architecture, system topology,

standard component definition, and the JAUS message will be discussed.

1.3.1 Overview

 The JAUS architecture is being developed in conjunction with the Department of

Defense in support of unmanned vehicle systems development and provides a means for

reducing system life-cycle costs by offering a well-defined component interface. This