Adaptive Visual Servoing for On-Orbit Servicing
Farhad Aghili

TL;DR
This paper introduces an adaptive visual servoing framework for on-orbit servicing robots that can handle vision system failures and occlusions, ensuring successful satellite capture through integrated control, estimation, and fault recovery strategies.
Contribution
It presents a novel hierarchical control architecture combining image registration, adaptive filtering, fault detection, and optimal path planning for robust satellite capture.
Findings
Successfully captured a tumbling satellite despite vision occlusion.
Demonstrated fault detection and recovery in real-time.
Achieved precise control under physical and operational constraints.
Abstract
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the event of partial or complete vision system failure, particularly in the short term. The autonomous system accounts for physical and operational constraints, executing visual servoing tasks to minimize a cost function. A hierarchical control architecture is developed, integrating a variant of the Iterative Closest Point (ICP) algorithm for image registration, a constrained noise-adaptive Kalman filter, fault detection and recovery logic, and a constrained optimal path planner. The dynamic estimator provides real-time estimates of unknown states and uncertain parameters essential for motion prediction, while ensuring consistency through a set of…
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