This paper describes the development and implementation of a standard message structure that is used to communicate desired vehicle motion to a mobile vehicle system. The objective was to develop a standardized message that would be applicable to a wide variety of vehicles such as steered-wheeled and tracked ground vehicles, fixed wing and rotary air vehicles, and underwater vehicles. The resulting technique uses a screw theory approach to define a propulsive wrench and a resistive wrench. These wrenches are used to command or direct in the most general terms how the vehicle is to move. The approach has been implemented on three different types of autonomous vehicles, i.e. a steered-wheeled vehicle, a tracked vehicle, and an omni-directional vehicle.
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