defined in Appendix A. Table 3-1 shows the user defined set of input and output

messages and their corresponding unique command codes. The input and output

command sets will be completely defined in the "Input and Output Commands" section

later in this chapter.



Table 3-1: User defined input and output JAUS commands
 Command Code Description
 OxlFF1 Set Auxiliary Actuator
 OxlFF2 OxlFF9 Set Behavior X
 O x3FF1 Query Auxiliary Actuator
 Ox3FF2 Ox3FF9 Query Behavior X
" Ox5FF Report Auxiliary Actuators
O Ox5FF2 Ox5FF9 Report Behavior X


3.1.3 Component Description

 The IPD defines a command interface to control any available indirect motion

actuators available upon a platform and any subsequent set of vehicle behaviors that

would utilize these actuators. Further, the IPD is able to issue wrench commands to a

primitive driver component. Automation of vehicle behaviors is accomplished to ease

operator burden when the JAUS system is acting in tele-operational mode and to decrease

high-level processor load when the system is acting in full-autonomous mode. Similar to

the Primitive Driver component, the IPD does not imply any specific platform in its

definition and therefore is not completely defined until it has been applied to the control

system of a particular platform.

 Figure 3-1 illustrates the most basic implementation of the Intelligent Primitive

Driver into the JAUS system architecture. The System Commander may send

commanded wrench efforts to the primitive driver to initiate vehicle motion or any of the