Pith. sign in

REVIEW 3 cited by

Towards Open-Source and Modular Space Systems with ATMOS

Not yet reviewed by Pith; the record is open.

Re-run · record.json Download PDF Read on arXiv ↗

This paper has not been read by Pith yet. Machine review is queued; the pith claim, tier, and objections will appear here once it completes.

SPECIMEN: schema-true, not a live event

T0 review · schema-true

One-sentence machine reading of the paper's core claim.

pith:XXXXXXXX · record.json · timestamp

arxiv 2501.16973 v2 pith:3LMVKVOX submitted 2025-01-28 cs.RO

Pedro Roque , Sujet Phodapol , Elias Krantz , Jaeyoung Lim , Joris Verhagen , Frank J. Jiang , David Dörner , Huina Mao
show 6 more authors
Gunnar Tibert Roland Siegwart Ivan Stenius Jana Tumova Christer Fuglesang Dimos V. Dimarogonas
This is my paper · ORCID
classification cs.RO
keywords resultsspaceautonomoushardwaresoftwarecontrolmodularopen-source
verification ladder T0 review T1 audit T2 compute T3 formal

Signed reviews

No signed human review yet.

0 comments
read the original 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.

Discussion (0). Continue with ORCID to comment.

Forward citations

Cited by 3 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics

    cs.RO 2026-02 conditional novelty 6.0 of 10

    A modular indoor water tank with dual motion capture, a digital twin, and a space-lab link demonstrates four experiments bridging maritime and space field robotics.

  2. Fault-tolerant Model Predictive Control for Spacecraft

    cs.RO 2025-09 conditional novelty 6.0 of 10

    An MPC controller with a new eMPC-based terminal set stabilizes underactuated spacecraft after multiple thruster failures by driving them onto a controlled orbit around the target trajectory.

  3. Collaborative Object Transportation in Space via Impact Interactions

    cs.RO 2025-04 conditional novelty 6.0 of 10

    A planning and control stack that transports passive objects in microgravity through robot impacts, using STL-based MILP planning, online replanning, and MPC, with hardware validation.

Reference graph

Works this paper leans on

52 extracted references · 51 canonical work pages · cited by 3 Pith papers

  1. [1]

    Towards the thousandth cubesat: A statistical overview,

    T. Villela, C. A. Costa, A. M. Brand ˜ao, F. T. Bueno, and R. Leonardi, “Towards the thousandth cubesat: A statistical overview,” International Journal of Aerospace Engineering , vol. 2019, 2019

    work page 2019

  2. [2]

    U.s. private space launch industry is out of this world,

    M. Semanik and P. Crotty, “U.s. private space launch industry is out of this world,” Executive Briefings on Trade , 2023

    work page 2023

  3. [3]

    Experimental study on the dynamics and control of a space robot with experimental free-floating robot satellite,

    K. Yoshida, “Experimental study on the dynamics and control of a space robot with experimental free-floating robot satellite,” Advanced Robotics, vol. 9, no. 6, pp. 583–602, 1994

    work page 1994

  4. [4]

    Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators,

    N. Uyama, H. Lund, K. Asakimori, Y . Ikeda, D. Hirano, H. Nakanishi, and K. Yoshida, “Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators,” in 2010 IEEE/SICE International Symposium on System Integration . IEEE, 2010, pp. 108–113

    work page 2010

  5. [5]

    An experimental system for free-flying space robots and its system identification,

    Y . Murotsu, S. Tsujio, A. Mitsuya, and K. Senda, “An experimental system for free-flying space robots and its system identification,” in Navigation and Control Conference , 1991, p. 2825

    work page 1991

  6. [6]

    The ntua space robot simulator: Design & results,

    E. Papadopoulos, I. S. Paraskevas, T. Flessa, K. Nanos, G. Rekleitis, and I. Kontolatis, “The ntua space robot simulator: Design & results,” in ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2008) . Citeseer, 2008

    work page 2008

  7. [7]

    Ros: an open-source robot operating system,

    M. Quigley, K. Conley, B. P. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y . Ng, “Ros: an open-source robot operating system,” in ICRA Workshop on Open Source Software , vol. 3. Kobe, Japan, 2009, p. 5

    work page 2009

  8. [8]

    Gusto: Guaranteed sequential trajectory optimization via sequential convex programming,

    R. Bonalli, A. Cauligi, A. Bylard, and M. Pavone, “Gusto: Guaranteed sequential trajectory optimization via sequential convex programming,” in 2019 International conference on robotics and automation (ICRA) . IEEE, 2019, pp. 6741–6747

    work page 2019

Show all 52 references
  1. [9]

    Real-time, propellant-optimized spacecraft motion planning under clohessy-wiltshire-hill dynamics,

    J. A. Starek, E. Schmerling, G. D. Maher, B. W. Barbee, and M. Pavone, “Real-time, propellant-optimized spacecraft motion planning under clohessy-wiltshire-hill dynamics,” in 2016 IEEE Aerospace Conference. IEEE, 2016, pp. 1–16

    2016

  2. [10]

    Free-flyer acquisition of spinning objects with gecko- inspired adhesives,

    M. A. Estrada, B. Hockman, A. Bylard, E. W. Hawkes, M. R. Cutkosky, and M. Pavone, “Free-flyer acquisition of spinning objects with gecko- inspired adhesives,” in 2016 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2016, pp. 4907–4913

    2016

  3. [11]

    Microgravity testbed for the development of space robot control systems and the demonstration of orbital maneuvers,

    F. L. Basmadji, G. Chmaj, T. Rybus, and K. Seweryn, “Microgravity testbed for the development of space robot control systems and the demonstration of orbital maneuvers,” in Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019,...

    2019

  4. [12]

    Development of a combined attitude and position controller for a satellite simulator,

    H. Daitx, M. Schlotterer, J. Whidborne, and M. Sagliano, “Development of a combined attitude and position controller for a satellite simulator,” in 67th International Astronautical Congress (IAC). International Astronautical Federation, 2016

    2016

  5. [13]

    T. M. Inc. (2022) Matlab version: 9.13.0 (r2022b). Natick, Massachusetts, United States. [Online]. Available: https://www. mathworks.com

    2022

  6. [14]

    Astrobee: Developing a free-flying robot for the international space station,

    M. Bualat, J. Barlow, T. Fong, C. Provencher, and T. Smith, “Astrobee: Developing a free-flying robot for the international space station,” in AIAA SPACE 2015 conference and exposition , 2015, p. 4643

    2015

  7. [15]

    Design and use paradigms for gazebo, an open-source multi-robot simulator,

    N. Koenig and A. Howard, “Design and use paradigms for gazebo, an open-source multi-robot simulator,” in IEEE/RSJ International Conference on Intelligent Robots and Systems , Sendai, Japan, Sep 2004, pp. 2149–2154

    2004

  8. [16]

    Laboratory experimenta- tion of autonomous spacecraft approach and docking to a collaborative target,

    M. Romano, D. A. Friedman, and T. J. Shay, “Laboratory experimenta- tion of autonomous spacecraft approach and docking to a collaborative target,” Journal of Spacecraft and Rockets , vol. 44, no. 1, pp. 164–173, 2007

    2007

  9. [17]

    Demonstration of technologies for autonomous micro-satellite assembly,

    T. Barrett, S. Schultz, W. Bezouska, and M. Aherne, “Demonstration of technologies for autonomous micro-satellite assembly,” in AIAA SPACE 2009 Conference & Exposition , 2009, p. 6504

    2009

  10. [18]

    (2015) Aerospace epoxy test bed precision air bearing floor

    Precision Epoxy. (2015) Aerospace epoxy test bed precision air bearing floor. NASA. [Online]. Available: https://www.precisionepoxy. com/aerospace-surface-plate

    2015

  11. [19]

    Astros: A 5dof experimental facility for research in space proximity operations,

    P. Tsiotras et al., “Astros: A 5dof experimental facility for research in space proximity operations,” Advances in the Astronautical Sciences , vol. 151, no. 1235, pp. 717–730, 2014

    2014

  12. [20]

    A six-degree-of-freedom hardware-in-the-loop simulator for small spacecraft,

    K. Saulnier, D. P´erez, R. Huang, D. Gallardo, G. Tilton, and R. Bevilac- qua, “A six-degree-of-freedom hardware-in-the-loop simulator for small spacecraft,” Acta Astronautica, vol. 105, no. 2, pp. 444–462, 2014

    2014

  13. [21]

    A six degree-of-freedom spacecraft dynamics simulator for formation control research,

    Y . K. Nakka, R. C. Foust, E. S. Lupu, D. B. Elliott, I. S. Crowell, S.-J. Chung, and F. Y . Hadaegh, “A six degree-of-freedom spacecraft dynamics simulator for formation control research,” in 2018 AAS/AIAA Astrodynamics Specialist Conference, 2018, pp. 1–20

    2018

  14. [22]

    Recent developments on orbit, a 3-dof free floating contact dynamics testbed,

    H. Kolvenbach and K. Wormnes, “Recent developments on orbit, a 3-dof free floating contact dynamics testbed,” in 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), vol. 6, 2016

    2016

  15. [23]

    Slider: On the design and modeling of a 2d floating satellite platform,

    A. Banerjee, J. Haluska, S. G. Satpute, D. Kominiak, and G. Niko- lakopoulos, “Slider: On the design and modeling of a 2d floating satellite platform,” arXiv preprint arXiv:2101.06335 , 2021

    2021 arXiv

  16. [24]

    A concurrent testing facility approach to validate small satellite combined operations,

    C. Nieto-Peroy, M. Sabatini, G. Palmerini, and ´E. Jeronimo de Oliveira, “A concurrent testing facility approach to validate small satellite combined operations,” Aerospace, vol. 8, no. 12, p. 361, 2021

    2021

  17. [25]

    Zero-g lab: a multi-purpose facility for emulating space operations,

    M. Olivares-Mendez, M. R. Makhdoomi, B. C. Yal c ¸ın, Z. Bokal, V . Muralidharan, M. O. Del Castillo, V . Gaudilliere, L. Pauly, O. Borgue, M. Alandihallaj et al. , “Zero-g lab: a multi-purpose facility for emulating space operations,” Journal of Space Safety Engineering , vol...

    2023

  18. [26]

    Spheres: a testbed for long duration satellite formation flying in micro-gravity conditions,

    D. Miller, A. Saenz-Otero, J. Wertz, A. Chen, G. Berkowski, C. Brodel, S. Carlson, D. Carpenter, S. Chen, S. Cheng et al., “Spheres: a testbed for long duration satellite formation flying in micro-gravity conditions,” in Proceedings of the AAS/AIAA space flight mechanics meeting , vol

  19. [27]

    Facility for validating technologies for the autonomous space rendezvous and docking to uncooperative targets,

    M. Sabatini, G. Palmerini, P. Gasbarri, and F. d Angeletti, “Facility for validating technologies for the autonomous space rendezvous and docking to uncooperative targets,” in Aeronautics and Astronautics: AIDAA XXVII International Congress , vol. 37. Materials Research Forum ...

    2023

  20. [28]

    Swarm rpo and docking simulation on a 3dof air bearing platform,

    R. Rughani, L. Villafana, and D. A. Barnhart, “Swarm rpo and docking simulation on a 3dof air bearing platform,” in 70th International Astronautical Congress (IAC), Washington DC, United States , 2019, pp. 21–25. VOLUME , 19 Pedro Roque et al.:

    2019

  21. [29]

    The elissa laboratory: Free-floating satellites for space-related research,

    C. Trentlage, J. Yang, M. Ben-Larbi, C. de Alba Padilla, and E. Stoll, “The elissa laboratory: Free-floating satellites for space-related research,” in Deutscher Luft-und Raumfahrtkongress . Deutsche Gesellschaft f ¨ur Luft-und Raumfahrt Friedrichshafen, Germany, 2018

    2018

  22. [30]

    Nasa analogs and mockups: Precision air bearing floor (pabf),

    “Nasa analogs and mockups: Precision air bearing floor (pabf),” https: //www.nasa.gov/reference/analogs-mockups, accessed: 2025-01-03

    2025

  23. [31]

    Jpl small satellite dynamics testbed simulation: Validated models for predicting on-orbit performance,

    D. Sternberg, C. Pong, N. Filipe, S. Mohan, S. Johnson, and L. Jones- Wilson, “Jpl small satellite dynamics testbed simulation: Validated models for predicting on-orbit performance,” J. Spacecraft and Rockets, vol. 55, pp. 322–334, 2018

    2018

  24. [32]

    Multi-platform small satellite dynamics testbed,

    K. D. Rivera, D. Sternberg, K. Lo, and S. Mohan, “Multi-platform small satellite dynamics testbed,” in 2023 IEEE Aerospace Conference . IEEE, 2023, pp. 1–7

    2023

  25. [33]

    Velocimeter lidar-based relative rate estimation for autonomous rendezvous, proximity operations, and docking applications,

    D. Adams and M. Majji, “Velocimeter lidar-based relative rate estimation for autonomous rendezvous, proximity operations, and docking applications,” in Proceedings of the 44th Annual American Astronautical Society Guidance, Navigation, and Control Conference,

  26. [34]

    Planar air-bearing microgravity simulators: Review of applications, existing solutions and design parameters,

    T. Rybus and K. Seweryn, “Planar air-bearing microgravity simulators: Review of applications, existing solutions and design parameters,” Acta Astronautica, vol. 120, pp. 239–259, 2016

    2016

  27. [35]

    Robotic manipulation and capture in space: A survey,

    E. Papadopoulos, F. Aghili, O. Ma, and R. Lampariello, “Robotic manipulation and capture in space: A survey,” Frontiers in Robotics and AI, p. 228, 2021

    2021

  28. [36]

    Historical survey of kinematic and dynamic spacecraft simulators for laboratory experimentation of on-orbit proximity maneuvers,

    M. Wilde, C. Clark, and M. Romano, “Historical survey of kinematic and dynamic spacecraft simulators for laboratory experimentation of on-orbit proximity maneuvers,” Progress in Aerospace Sciences , vol. 110, p. 100552, 2019

    2019

  29. [37]

    A review of space robotics technologies for on-orbit servicing,

    A. Flores-Abad, O. Ma, K. Pham, and S. Ulrich, “A review of space robotics technologies for on-orbit servicing,” Progress in aerospace sciences, vol. 68, pp. 1–26, 2014

    2014

  30. [38]

    Issues and solutions for testing free-flying robots,

    C. Menon, S. Busolo, S. Cocuzza, A. Aboudan, A. Bulgarelli, C. Bettanini, M. Marchesi, and F. Angrilli, “Issues and solutions for testing free-flying robots,” Acta Astronautica, vol. 60, no. 12, pp. 957– 965, 2007

    2007

  31. [39]

    Multi-agent testbed for distributed space systems,

    A. Osuman, J. Guo, and E. Gill, “Multi-agent testbed for distributed space systems,” in 61st International Astronautical Congress, Prague, Czech Republic, 27 September-1 October 2010 . International Astronautical Federation, 2010

    2010

  32. [40]

    Flat-floor facilities im support of configurable space structures development,

    Z. Pronk and P. T. L. van Woerkom, “Flat-floor facilities im support of configurable space structures development,” Acta astronautica, vol. 38, no. 4-8, pp. 277–288, 1996

    1996

  33. [41]

    Historical review of air-bearing spacecraft simulators,

    J. L. Schwartz, M. A. Peck, and C. D. Hall, “Historical review of air-bearing spacecraft simulators,” Journal of Guidance, Control, and Dynamics, vol. 26, no. 4, pp. 513–522, 2003

    2003

  34. [42]

    Astrobee robot software: A modern software system for space,

    L. Fluckiger, K. Browne, B. Coltin, J. Fusco, T. Morse, and A. Syming- ton, “Astrobee robot software: A modern software system for space,” in iSAIRAS (International Symposium on Artificial Intelligence, Robotics and Automation in Space) , no. ARC-E-DAA-TN55483, 2018

    2018

  35. [43]

    K. E. S. Albee, Online Information-Aware Motion Planning with Model Improvement for Uncertain Mobile Robotics . Massachusetts Institute of Technology, 2022

    2022

  36. [44]

    Px4: A node-based multithreaded open source robotics framework for deeply embedded platforms,

    L. Meier, D. Honegger, and M. Pollefeys, “Px4: A node-based multithreaded open source robotics framework for deeply embedded platforms,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 6235–6240

    2015

  37. [45]

    A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability,

    H. Chen and F. Allg ¨ower, “A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability,” Automatica, vol. 34, no. 10, pp. 1205–1217, 1998

    1998

  38. [46]

    Indirect kalman filter for 3d attitude estimation,

    N. Trawny and S. I. Roumeliotis, “Indirect kalman filter for 3d attitude estimation,” University of Minnesota, Dept. of Comp. Sci. & Eng., Tech. Rep, vol. 2, p. 2005, 2005

    2005

  39. [47]

    Nonlinear offset-free model predictive control,

    M. Morari and U. Maeder, “Nonlinear offset-free model predictive control,” Automatica, vol. 48, no. 9, pp. 2059–2067, 2012

    2012

  40. [48]

    Monitoring Temporal Properties of Continuous Signals,

    O. Maler and D. Nickovic, “Monitoring Temporal Properties of Continuous Signals,” in Formal Techniques, Modelling and Analysis of Timed and Fault-Tolerant Systems , ser. Lecture Notes in Computer Science, Y . Lakhnech and S. Yovine, Eds. Berlin, Heidelberg: Springer, 2004, pp. 152–166

    2004

  41. [49]

    Temporally robust multi- agent stl motion planning in continuous time,

    J. Verhagen, L. Lindemann, and J. Tumova, “Temporally robust multi- agent stl motion planning in continuous time,” in 2024 American Control Conference (ACC). IEEE, 2024, pp. 251–258

    2024

  42. [50]

    Space cobot: Modular design of an holonomic aerial robot for indoor microgravity environments,

    P. Roque and R. Ventura, “Space cobot: Modular design of an holonomic aerial robot for indoor microgravity environments,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016, pp. 4383–4390. 20 VOLUME ,

    2016

  43. [105]

    Citeseer, 2000, pp. 167–179

    2000

  44. [2022]

    1661–1675

    Springer, 2022, pp. 1661–1675

    2022

Pith tools