The purpose of this SAE Aerospace Information Report (AIR) is two-fold: to inform the reader of the extent of effort that went into the development of the Joint Architecture for Unmanned Systems (JAUS), and to capture for posterity the domain analysis that provides the underpinnings for the work by the AS-4 Committee (Unmanned Systems).

Rationale:
The SAE AS-4 Unmanned Systems Steering Group has now completed its transition from the ad-hoc JAUS Working Group. The new AS-4 services, published under AS-4B and AS-4C, represent functionality similar to or exceeding that available in the last publication of the JAUS Reference Architecture. This document, the JAUS History and Domain Model, captures a historical perspective on the Working Group and its transition, along with the Domain Model that served as guidance for development of the Standards. Since this document is purely historical, no additional changes or modifications are expected.