4 papers
More than a Manipulator: Planning Propellant-Free Attitude Maneuvers for Free-Floating Spacecraft
Harsh G. Bhundiya, Avi Soval, Keenan Albee
Spacecraft attitude control is traditionally achieved using momentum exchange devices or propellant-consuming thrusters. Meanwhile, a growing number of missions require robotic man…
SmallSatSim: A High-Fidelity Simulation and Training Toolkit for Microgravity Robotic Close Proximity Operations
David Schwartz, Alexander Hansson, Sabrina Bodmer +3
Microgravity rendezvous and close proximity operations (RPO) is a growing area of interest for applications spanning in-space assembly and manufacturing (ISAM), orbital debris reme…
Architecting Autonomy for Safe Microgravity Free-Flyer Inspection
Keenan Albee, David C. Sternberg, Alexander Hansson +3
Small free-flying spacecraft can provide vital extravehicular activity (EVA) services like inspection and repair for future orbital outposts like the Lunar Gateway. Operating adjac…
Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
Ersin Das, William A. Welch, Patrick Spieler +14
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload…