Safe Multi-agent Satellite Servicing with Control Barrier Functions

TL;DR

This paper develops a control framework using barrier functions to ensure collision avoidance among multiple satellite servicing agents with uncertain pose data, enabling safe operation around tumbling space objects.

Contribution

It introduces a novel collision avoidance method leveraging control barrier functions and a differential detection framework for multi-agent satellite servicing around tumbling objects.

Findings

Effective collision avoidance demonstrated in simulation.

Framework accommodates uncertain pose information.

Ensures safe proximity to tumbling space objects.

Abstract

The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling space object from a mothership. Relative position and orientation of each agent is obtained via fusion of relative range and inertial measurement sensors. The control barrier functions are utilized to avoid collisions with other agents for the application of simultaneously relocating servicing agents on a tumbling body. A differential collision detection and avoidance framework using the polytopic hull of the tumbling space object is utilized to safely guide the agents away from the tumbling object.