Towards Open-Source and Modular Space Systems with ATMOS
Pedro Roque, Sujet Phodapol, Elias Krantz, Jaeyoung Lim, Joris, Verhagen, Frank J. Jiang, David D\"orner, Huina Mao, Gunnar Tibert, Roland, Siegwart, Ivan Stenius, Jana Tumova, Christer Fuglesang, and Dimos V., Dimarogonas

TL;DR
This paper introduces an open-source, modular space robotics laboratory designed for autonomous spacecraft control, enabling reliable simulation-to-hardware transfer and facilitating research in rendezvous, inspection, and maintenance tasks.
Contribution
It presents a novel open-source, modular framework for space robotics simulation and hardware testing, enhancing reproducibility and collaboration in autonomous spacecraft research.
Findings
Successful simulation-to-hardware transfer demonstrated
Comparative analysis of control and planning methods
Insights into hardware and software performance in space robotics
Abstract
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of orbiting space stations, as well as human-assistance tasks over shared workspaces. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space robotics laboratory based on open-source and modular software and hardware. The simulation software provides a software-in-the-loop architecture that seamlessly transfers simulated results to the hardware. Our results provide an insight into such a system, including comparisons of hardware and software results, as well as control and planning methodologies for controlling free-flying platforms.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Code & Models
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsSpacecraft Design and Technology · Distributed and Parallel Computing Systems · Satellite Communication Systems
