This document defines a set of standard application layer interfaces called JAUS Environment Sensing Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Environment Sensing Services represent typical environment sensing capabilities commonly found across all domains and types of unmanned systems in a platform-independent manner. At present, twelve services are defined in this document:

• Range Sensor: Determine the proximity of objects in the platform’s environment
• Visual Sensor: Provides common configuration and setup for different types of imaging systems
• Digital Video: A type of Visual Sensor that manages digital video
• Analog Video: A type of Visual Sensor that manages analog video
• Still Image: A type of Visual Sensor that manages and encodes individual digital images
• Digital Audio Sensor: Provides common configuration and setup for different types of audio streams
• Digital Audio Output: Send streaming audio to a destination, frequently a speaker on a remote platform
• Digital Resource Discovery: Support run-time discovery of RTSP-based streaming audio and video
• Force Torque Sensor: Report the forces and torques measured in six degrees of freedom
• H264 Video Encoding: Configure the parameters of an H.264 based video encoded stream
• Port Mapper: Provides a bridge between internal and external networks, similar to Network Address Translation
• Video Illuminator: Control one or more lights associated with one or more cameras

Each service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language (AS5684).