Astrobotics: Swarm Robotics for Astrophysical Studies
Matin Macktoobian, Denis Gillet, Jean-Paul Kneib

TL;DR
This paper introduces astrobotics, a new robotics field using dense formations of specialized robots with optical fibers for astrophysical applications like dark matter mapping and space debris tracking.
Contribution
It defines the concept of astrobots, discusses their unique coordination challenges, and explores their potential for large-scale astrophysical and space applications.
Findings
Proposes collision-free coordination algorithms for dense astrobot formations.
Highlights the importance of assignment strategies on observational quality.
Discusses future large-scale projects with up to 20,000 astrobots.
Abstract
This paper introduces the emerging field of astrobotics, that is, a recently-established branch of robotics to be of service to astrophysics and observational astronomy. We first describe a modern requirement of dark matter studies, i.e., the generation of the map of the observable universe, using astrobots. Astrobots differ from conventional two-degree-of-freedom robotic manipulators in two respects. First, the dense formation of astrobots give rise to the extremely overlapping dynamics of neighboring astrobots which make them severely subject to collisions. Second, the structure of astrobots and their mechanical specifications are specialized due to the embedded optical fibers passed through them. We focus on the coordination problem of astrobots whose solutions shall be collision-free, fast execution, and complete in terms of the astrobots' convergence rates. We also illustrate the…
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