A JAUS System is broken up into a 3-tiered logical hierarchy consisting of Subsystems, Nodes, and Components. 


1. Subsystems


 A JAUS System consists of one or more Subsystems. Usually a Subsystem is a vehicle, robot, or operator control unit (OCU). 


2. Nodes


A JAUS Subsystem consists of one or more Nodes. A Node is usually a single computing resource such as a PC or embedded processor. If a robot has 2 computers which are both JAUS-compliant, then the Subsystem usually has 2 Nodes.


3. Components


A JAUS Node consists of one or more Components. A Component is a software element that can communicate with other JAUS Components in the JAUS System, and is required to access and utilize any JAUS Services. A Component that provides one or more services is called a server, while a component that uses one or more services is called a client.


A JAUS Component is the only addressable entity within the JAUS System and is uniquely identified using a dotted address consisting of SubsystemID.NodeID.ComponentID. For example, a JAUS Component with address 100.1.25 is a JAUS Component with ID = 25, running on a Node with ID = 1, which is part of a Subsystem with ID 100.


Please refer to SAE AS-4 Document AS5710A for more details.


Services


A JAUS Service is the mechanism by which capabilities are exposed and made available on the Subsystem. For example, if a Component supports the PrimitiveDriver service, that Component is capable of moving the robot using a simple, open-loop control mechanism. If a Components supports the GlobalPoseSensor service, then that Component is capable of providing the robot's position relative to a global reference point.



A JAUS System must contain at least one Subsystem, with at least one Node, with at least one Component that supports at least one Service.