{"total":109,"page":1,"pages":5,"meaning":{"used":true,"count":0,"expansions":[{"typed":"astrobee","also":["Astrobee free-flyer"]}],"optional":[]},"timing":{"embedMs":1010,"searchMs":52.9},"facets":{"domains":{"orbital-robotics":101,"in-space-servicing":11,"unassigned":7,"isru-construction":1,"planetary-robotics":3},"techniques":{"free-flyers":96,"hri-teleoperation":24,"rpo-docking":8,"manipulation":21,"planning-navigation":15,"surface-mobility":6,"perception":18,"simulation-testbeds":5,"learning":13,"gnc":19,"design-hardware":9,"multi-robot":5,"autonomy-ops":5},"missions":{"astrobee":107,"cimon":3,"spheres":16,"int-ball":3,"gateway":1,"robonaut":4,"canadarm":1,"viper":1},"venues":{"aerospace-mechanisms":2,"isparo":8,"preprint":31,"other":31,"aiaa-space":1,"frontiers-rai":2,"ral":2,"spaceops":4,"cvpr-ws":1,"workshops":3,"iac":3,"iros":3,"space-robots-ws":2,"icra":6,"jfr":2,"aerospace-mdpi":1,"ieee-aero":3,"sii":1,"aiaa-scitech":3,"jgcd":1,"cja":1,"aim":1},"years":{"2015":6,"2016":6,"2017":9,"2018":10,"2019":8,"2020":9,"2021":9,"2022":7,"2023":11,"2024":10,"2025":14,"2026":10},"withCode":3,"classics":0},"papers":[{"id":"oa:W2494103193","title":"Astrobee: Space Station Robotic Free Flyer","authors":["Chris Provencher","Maria G. Bualat","Jonathan S. Barlow","Terrence Fong","Marion F. Smith","Ernest E. Smith","Hugo Santiago Sánchez"],"abstract":"Astrobee is a free flying robot that will fly inside the International Space Station and primarily serve as a research platform for robotics in zero gravity. Astrobee will also provide mobile camera views to ISS flight and payload controllers, and collect various sensor data within the ISS environment for the ISS Program. Astrobee consists of two free flying robots, a dock, and ground data system. This presentation provides an overview, high level design description, and project status.","published":"2016-07-14","addedAt":"2016-07-14","year":2016,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:astrobee"]},{"id":"rpo-docking","code":"T4","label":"Rendezvous, Proximity Ops & Docking","source":"official","via":["openalex-keyword:docking system"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.869},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.067},{"id":"T14214","name":"Space Exploration and Technology","score":0.037}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":1,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW2494103193/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20200010325","title":"Astrobee Free-Flyer Nozzle Mechanism Summary","authors":["Earl Daley"],"abstract":"The paper summary details the function, design, and lessons learned during the development of the Astrobee Free-Flyer nozzle. The Astrobee Free-Flyer is a free flying robot used aboard the International Space Station (ISS).","published":"2020-05-13","addedAt":"2020-05-13","year":2020,"venue":{"id":"aerospace-mechanisms","label":"Aerospace Mechanisms 2020","year":2020,"isWorkshop":false,"raw":"The 45th Aerospace Mechanism Symposium"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["ntrs-keyword:Astrobee","ntrs-keyword:Free Flyer","title:astrobee","abstract:astrobee"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Mechanical Engineering"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20200010325/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20200010325/downloads/20200010325.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20250005900","title":"Astrobee Contribution to Collaborative ISS Free-Flyer Robot Paper","authors":["Andres Mora Vargas"],"abstract":"As part of a joint paper with JAXA and ESA that illustrates the work done by NASA’s Astrobee, JAXA’s Intball, and ESA’s CIMON free-flyers on board of the International Space Station (ISS) and to be submitted at the International Space Robotics Conference 2025 (iSparo 2025), the Astrobee team is providing a draft for the portion of the paper that refers to Astrobee development and activities on board the International Space Station (ISS).","published":"2025-06-08","addedAt":"2025-06-08","year":2025,"venue":{"id":"isparo","label":"iSpaRo 2025","year":2025,"isWorkshop":false,"raw":"International Conference on Space Robotics (iSpaRo)"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["ntrs-keyword:Astrobee","title:astrobee","abstract:astrobee","abstract:cimon"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"},{"id":"cimon","name":"CIMON","fields":["abstract"],"page":"https://space-robots.org/papers/missions/cimon/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20250005900/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20250005900/downloads/draft_astrobee_isparo_2025.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W2262496361","title":"Space Technology Game Changing Development Astrobee: ISS Robotic Free Flyer","authors":["Maria G. Bualat"],"abstract":"Astrobee will be a free-flying robot that can be remotely operated by astronauts in space or by mission controllers on the ground. NASA is developing Astrobee to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station. These IVA tasks include interior environmental surveys (e.g., sound level measurement), inventory and mobile camera work. Astrobee will also serve as a platform for robotics research in microgravity. Here we describe the Astrobee project objectives, concept of operations, development approach, key challenges, and initial design.","published":"2015-07-30","addedAt":"2015-07-30","year":2015,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"official","via":["openalex-keyword:teleoperation"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.535},{"id":"T14214","name":"Space Exploration and Technology","score":0.313},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.088}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW2262496361/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W3171912125","title":"Astrobee Free Flyers: Integrated and Tested. Ready for Launch!","authors":["Roberto Carlino","Jonathan S. Barlow","Jose Benavides","Maria G. Bualat","Aric Katterhagen","Yun‐Ji Kim","Ruben Garcia Ruiz","Trey Smith","Andrés Mora Vargas"],"abstract":"As of March 2019, four Astrobee free-flying robots have been integrated, tested and shipped to NASA’s Johnson Space Center, Texas, ready to be launched to space. Two of these Astrobee units (Honey and Bumble) will be launched to the International Space Station (ISS) on April 17, 2019, on the Cygnus NG-11 (Northrop Grumman) cargo resupply spacecraft from the Mid-Atlantic Regional Spaceport (MARS) launch facility, at NASA's Wallops Flight Facility, in Virginia, while the third unit (Queen) will be launched in mid-July 2019, with the cargo resupply mission Space-X 18, from Cape Canaveral, at NASA’s Kennedy Space Center. The primary purpose of the Astrobee system is to provide an autonomous and flexible platform for research on zero-g free-flying robotics, with the ability to accommodate guest researchers looking to utilize the unique capabilities of this platform in the microgravity of low earth orbit, and to advance the state of the art of guest science software and research payloads, which range from gecko-inspired adhesives for perching on smooth surfaces, to augmented reality interfaces to help astronauts and robots work together effectively, to RFID reader, performing inventory of RFID tagged items inside the ISS. Astrobee will also serve utility functions, such as free-flying cameras to record video and provide assistance during astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. In this paper we will give an overview of the status of the Astrobee system, which includes the docking station already launched and mounted in the JAXA JEM module of the ISS, the Astrobee robots, the Astrobee robotic arms, the ground data system (GDS) and the development of the several guest science payloads.","published":"2019-10-21","addedAt":"2019-10-21","year":2019,"venue":{"id":"other","label":"International Astronautical Federation (IAF)","year":2019,"isWorkshop":false,"raw":"International Astronautical Federation (IAF)"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"official","via":["openalex-keyword:augmented reality interfaces","abstract:augmented reality","abstract:astronaut"]},{"id":"manipulation","code":"T1","label":"Manipulation & Grasping","source":"official","via":["openalex-keyword:robot manipulators"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.823},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.073},{"id":"T14214","name":"Space Exploration and Technology","score":0.058}],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":1,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW3171912125/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20190032508/downloads/20190032508.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W2784248906","title":"SPHERES and Astrobee: Space Station Robotic Free Flyers","authors":["Jose Benavides"],"abstract":"Free-flying space robots can be used when humans are present to off-load routine work, to increase astronaut productivity, and to handle contingencies. The International Space Station (ISS), for example, is a continuously manned orbital laboratory the size of a large house, which contains many thousands of inventory items and hundreds of diverse payloads and experiments - all of which have to be managed by 6 person crew. To help with this, NASA is developing and testing robotic free-flyers on the ISS. SPHERES (Synchronized Position Hold, Engage, Reorient, Experimental Satellites) is an ISS facility with three nano-satellites designed to research estimation, control, and autonomy algorithms. SPHERES are volleyball-sized, have their own power, propulsion and navigation systems, and work on the ISS under astronaut supervision. For more than 10 years, NASA has made SPHERES available to other U.S. government agencies, schools, commercial companies and students as a platform for science, technology development, and education. SPHERES will soon be succeeded by the new Astrobee free-flying robot. Astrobee builds on the success of SPHERES, but in addition to research, the robot will also be used for housekeeping and monitoring duties without astronaut supervision. Astrobee makes extensive use of open-source (the complete software stack is available on GitHub) and is scheduled to be installed on the ISS in late Spring 2018.","published":"2017-11-15","addedAt":"2017-11-15","year":2017,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:free-fly"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"text","via":["abstract:astronaut","abstract:crew"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"},{"id":"spheres","name":"SPHERES","fields":["title","abstract"],"page":"https://space-robots.org/papers/missions/spheres/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.99},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.003},{"id":"T14214","name":"Space Exploration and Technology","score":0.002}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":1,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW2784248906/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20150018250","title":"Astrobee: Developing a Free-flying Robot for the International Space Station","authors":["Maria G. Bualat","Jonathan S. Barlow","Terrence Fong","Chris Provencher","Trey Smith"],"abstract":"Astronaut time will always be in short supply, consumables (e.g., oxygen) will always be limited, and some work will not be feasible, or productive, for astronauts to do manually. Free flyers offer significant potential to perform a great variety of tasks, include routine, repetitive or simple but long-duration work, such as conducting environment surveys, taking sensor readings or monitoring crew activities. The \"Astrobee\" project is developing a new free flying robot system suitable for performing Intravehicular Activity (IVA) work on the International Space Station (ISS). This paper will describe the Astrobee project objectives, initial design, concept of operations, and key challenges.\\n\\n\\n","published":"2015-08-28","addedAt":"2015-08-31","year":2015,"venue":{"id":"aiaa-space","label":"AIAA SPACE / ASCEND 2015","year":2015,"isWorkshop":false,"raw":"AIAA Space 2015"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","ntrs-keyword:Free Flyer","title:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"text","via":["abstract:astronaut","abstract:crew"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.622},{"id":"T14214","name":"Space Exploration and Technology","score":0.306},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.042}],"ntrsSubjects":["Spacecraft Design, Testing and Performance","Engineering (General)","Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":92,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20150018250/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20150018250/downloads/20150018250.pdf","html":null,"doi":"https://doi.org/10.2514/6.2015-4643","code":null,"project":null},"match":"words"},{"id":"oa:W7153684257","title":"ASTROBATICS: OPERATION AND CONTROL OF THE ASTROBEE ROBOTIC FREE-FLYER","authors":["Patrick W. Leary"],"abstract":"In preparation for future on-orbit testing on the International Space Station (ISS), the Naval Postgraduate School (NPS) Spacecraft Robotics Laboratory (SRL) demonstrated operation and control of the Astrobee robotic free-flyer both in simulation and experimentation at NASA Ames Research Center. This thesis discusses the continuation of ground testing of the robotic hopping maneuver, a propellantless, robotic manipulator-based mobility approach for orbiting satellites. It also expands the current SRL scope to include motion planning and presents the use of artificial potential field guidance (APFG) to directly control Astrobee’s impellers and stabilize after completing a successful hopping maneuver on the ISS. This thesis additionally serves as a manual for future NPS students to configure NASA’s Astrobee simulator. Following the ISS experimental campaign, generating a model for the robot’s force allocation module and integrating the APFG motion planner are areas of focus for future SRL research.","published":"2020-12-01","addedAt":"2020-12-01","year":2020,"venue":{"id":"other","label":"Calhoun: The Naval Postgraduate School Institutional Archive (Naval Postgraduate School)","year":2020,"isWorkshop":false,"raw":"Calhoun: The Naval Postgraduate School Institutional Archive (Naval Postgraduate School)"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","title:astrobee","abstract:astrobee","abstract:free-fly"]},{"id":"manipulation","code":"T1","label":"Manipulation & Grasping","source":"official","via":["openalex-keyword:robot manipulators"]},{"id":"planning-navigation","code":"T6","label":"Motion Planning & Navigation","source":"official","via":["openalex-keyword:motion planning"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.996},{"id":"T11082","name":"Spacecraft Dynamics and Control","score":0.003},{"id":"T14214","name":"Space Exploration and Technology","score":0.001}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW7153684257/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20210014015","title":"Astrobee On-Orbit Commissioning","authors":["Maria G. Bualat","Jonathan S. Barlow","Jose V. Benavides","Brian Coltin","Lorenzo J. Fluckiger","Marina Gouveia Moreira","Kathryn M. Browne","Aric Katterhagen","Ryan Soussan","Trey Smith"],"abstract":"The Astrobee free flying robots operate autonomously inside the International Space Station (ISS) with oversight from a ground operator or ISS crew. They replace the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as research platforms for zero-g free-flying robotics. Astrobee can also serve as a mobile camera/sensor platform for flight and payload controllers to improve ISS operations. Development began in late 2014, and flight hardware deployed to the ISS on several launches starting from November 2018 to October 2019. Shortly after the first two robots arrived in April 2019, we began a series of commissioning activities to validate the Astrobee robots. This paper reviews the Astrobee system and describes the on-orbit commissioning activities and results.","published":"2021-05-03","addedAt":"2021-05-03","year":2021,"venue":{"id":"spaceops","label":"SpaceOps 2021","year":2021,"isWorkshop":false,"raw":"16th International Conference on Space Operations"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["ntrs-keyword:Free-flyer","ntrs-keyword:Astrobee","title:astrobee","abstract:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"text","via":["abstract:operator","abstract:crew"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"},{"id":"spheres","name":"SPHERES","fields":["abstract"],"page":"https://space-robots.org/papers/missions/spheres/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20210014015/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20210014015/downloads/SpaceOps2021_ID1518_final.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"doi:10.3389/frobt.2022.1004165","title":"Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments","authors":["Stephen Thiam-Choy Kwok-Choon","Jennifer Hudson","Marcello Romano"],"abstract":"Dynamic hopping maneuvers using mechanical actuation are proposed as a method of locomotion for free-flyer vehicles near or on large space structures. Such maneuvers are of interest for applications related to proximity maneuvers, observation, cargo carrying, fabrication, and sensor data collection. This study describes a set of dynamic hopping maneuver experiments performed using two Astrobees. Both vehicles were made to initially grasp onto a common free-floating handrail. From this initial condition, the active Astrobee launched itself using mechanical actuation of its robotic arm manipulator. The results are presented from the ground and flight experimental sessions completed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School, the Intelligent Robotics Group facility at NASA Ames Research Center, and hopping maneuvers aboard the International Space Station. Overall, this study demonstrates that locomotion through mechanical actuation could successfully launch a free-flyer vehicle in an initial desired trajectory from another object of similar size and mass.","published":"2022-11-25","addedAt":"2022-11-25","year":2022,"venue":{"id":"frontiers-rai","label":"Frontiers RAI 2022","year":2022,"isWorkshop":false,"raw":"Frontiers in Robotics and AI"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"},{"id":"in-space-servicing","label":"IN-SPACE SERVICING"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","title:astrobee","abstract:free-fly","abstract:astrobee"]},{"id":"surface-mobility","code":"T2","label":"Surface Mobility & Terramechanics","source":"text","via":["title:hopping","abstract:hopping","abstract:locomotion"]},{"id":"manipulation","code":"T1","label":"Manipulation & Grasping","source":"text","via":["abstract:grasp","abstract:robotic arm"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.993},{"id":"T11082","name":"Spacecraft Dynamics and Control","score":0.004},{"id":"T14214","name":"Space Exploration and Technology","score":0.002}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":3,"links":{"page":"https://space-robots.org/papers/paper/doi%3A10.3389/frobt.2022.1004165","arxiv":null,"pdf":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1004165/pdf","html":null,"doi":"https://doi.org/10.3389/frobt.2022.1004165","code":null,"project":null},"match":"words"},{"id":"ntrs:20220005275","title":"Astrobee: Improving Capabilities for Free Flying Robotic Technology Demonstrations","authors":["Jonathan Spencer Barlow","Trey Smith","Jose Benavides","Maria Bualat","Aric Katterhagen","Ernest Smith"],"abstract":"The Astrobee Project has completed three years operating inside the ISS. Three Astrobee Free Flyers reached the ISS in April 2019 and are currently hosting a variety of users. During this time, Astrobee has advanced the state of the art in free-flying robots on ISS, operated over 100 sessions, logged over 750 hours of free-flyer operation, and made several capability improvements. Astrobee’s primary objective is to provide a highly flexible and capable free-flying robotic research platform to enable future guest scientist investigations. However, Astrobee is also demonstrating the feasibility of intra-vehicular robots (IVR) for performing key caretaking functions within exploration vehicles as part of NASA’s Moon-to-Mars exploration strategy. IVR capabilities will be especially vital during uncrewed mission phases. For example, current plans call for the lunar Gateway to be uncrewed >85% of the time. Astrobee’s baseline implementation supports free-flying camera and sensor survey use cases. Astrobee guest scientists can deploy software updates and hardware payloads to extend its capabilities. Astrobee is continuously improving its navigation robustness, general flight software maturity, and ISS interior maps, both through the baseline Astrobee operations and with the help of the ISAAC project. Astrobee began with mapping, localization, and operations in the Japanese Experiment Module (JEM), and has expanded to mapping in Node 2 and the US Lab. Astrobee has improved localization and operational robustness through improved mapping processes, algorithm updates (Soussan 2022) that reduce the occurrences of lost localization as well as developed recovery techniques to return to a good localization fix when loss of localization does occur. Future guest science experiments currently in development could demonstrate cargo transfer, fault isolation, free flyer and stationary robot collaboration, microgravity fluid transfer, and new docking mechanisms, among others. This presentation will focus on 1) Astrobee technical capabilities 2) What Astrobee can provide to a guest science experiment 3) Astrobee’s recent improvements 4) Possibilities for using Astrobee for future investigations. Soussan, R., Kumar, V., Coltin, B. and Smith, T. (2022) AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot, Proc. Int. Conf. Rob. Autom. (ICRA) [to appear]","published":"2022-07-25","addedAt":"2022-07-25","year":2022,"venue":{"id":"other","label":"International Space Station Research and Development Conference","year":2022,"isWorkshop":false,"raw":"International Space Station Research and Development Conference"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["ntrs-keyword:Astrobee","title:astrobee","abstract:astrobee","abstract:free fly"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20220005275/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20220005275/downloads/ISS_Conf_Abstract_2022_Astrobee_Barlow.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20200010327","title":"Astrobee Free-Flyer Nozzle Mechanism","authors":["Earl Daley"],"abstract":"This paper describes the development and design of the Astrobee Free-Flyer propulsion nozzle assemblies. As will be illustrated in this paper, the Free-Flyer nozzles are thrust control devices used to propel the Astrobee Free-Flyer robot autonomously inside the International Space Station (ISS). The development process, design evolution, and prototyping methods, are described. Key design features are discussed in greater detail to highlight how a seemingly simple design can present surprisingly large challenges. Several lessons learned are given.","published":"2020-05-13","addedAt":"2020-05-13","year":2020,"venue":{"id":"aerospace-mechanisms","label":"Aerospace Mechanisms 2020","year":2020,"isWorkshop":false,"raw":"The 45th Aerospace Mechanism Symposium"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"text","via":["title:astrobee","abstract:astrobee","abstract:free-fly"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Mechanical Engineering"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20200010327/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20200010327/downloads/20200010327.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20210013450","title":"Astrobee On-Orbit Commissioning Manuscript and Presentation","authors":["Maria Bualat","Jonathan Barlow","Jose Benavides","Brian Coltin","Lorenzo Fluckiger","Marina Moreira","Kathryn Hamilton","Aric Katterhagen","Ryan Soussan","Trey Smith"],"abstract":"The Astrobee free flying robots operate autonomously inside the International Space Station (ISS) with oversight from a ground operator or ISS crew. They replace the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as research platforms for zero-g free-flying robotics. Astrobee can also serve as a mobile camera/sensor platform for flight and payload controllers to improve ISS operations. Development began in late 2014, and flight hardware deployed to the ISS on several launches starting from November 2018 to October 2019. Shortly after the first two robots arrived in April 2019, we began a series of commissioning activities to validate the Astrobee robots. This paper reviews the Astrobee system and describes the on-orbit commissioning activities and results.","published":"2021-05-03","addedAt":"2021-05-03","year":2021,"venue":{"id":"spaceops","label":"SpaceOps 2021","year":2021,"isWorkshop":false,"raw":"The 16th International Conference on Space Operations"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["ntrs-keyword:Free-flyer","ntrs-keyword:Astrobee","title:astrobee","abstract:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"text","via":["abstract:operator","abstract:crew"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"},{"id":"spheres","name":"SPHERES","fields":["abstract"],"page":"https://space-robots.org/papers/missions/spheres/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20210013450/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20210013450/downloads/SpaceOps2021_ID1518_presentation.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20180003515","title":"Astrobee Robot Software: A Modern Software System for Space","authors":["Lorenzo Flückiger","Kathryn Browne","Brian Coltin","Jesse Fusco","Theodore F. Morse","Andrew Symington"],"abstract":"Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This paper presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot. The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). The software runs on three interconnected smart phone class processors. We present the software approach, infrastructure required, and main software components. The Astrobee Robot Software embrace modern software practices while respecting flight constraints. The paper concludes with the lessons learned, including examples usage of the software. Several research teams are already using the Astrobee Robot Software to develop novel projects that will fly on Astrobee.","published":"2018-06-04","addedAt":"2018-06-04","year":2018,"venue":{"id":"other","label":"European Space Agency","year":2018,"isWorkshop":false,"raw":"European Space Agency"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","ntrs-keyword:Astrobee","title:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"official","via":["openalex-keyword:teleoperation","abstract:crew","abstract:teleoperat"]},{"id":"rpo-docking","code":"T4","label":"Rendezvous, Proximity Ops & Docking","source":"official","via":["openalex-keyword:autonomous docking"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T13382","name":"Robotics and Automated Systems","score":0.573},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.178},{"id":"T13436","name":"Space Technology and Applications","score":0.054}],"ntrsSubjects":["Computer Programming and Software"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":9,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20180003515/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20180003515/downloads/20180003515.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"doi:10.1109/lra.2024.3364834","title":"Astrobee ISS Free-Flyer Datasets for Space Intra-Vehicular Robot Navigation Research","authors":["Suyoung Kang","Ryan Soussan","Daekyeong Lee","Brian Coltin","Andrés Mora Vargas","Marina Moreira","Katie Browne","Ruben Garcia","Maria G. Bualat","Trey Smith","Jonathan S. Barlow","Jose Benavides","Eunju Jeong","Pyojin Kim"],"abstract":"We present the first annotated benchmark datasets for evaluating free-flyer visual-inertial localization and mapping algorithms in a zero-g spacecraft interior. The Astrobee free-flying robots that operate inside the International Space Station (ISS) collected the datasets. Space intra-vehicular free-flyers face unique localization challenges: their IMU does not provide a gravity vector, their attitude is fully arbitrary, and they operate in a dynamic, cluttered environment. We extensively evaluate state-of-the-art visual navigation algorithms on these challenging Astrobee datasets, showing superior performance of classical geometry-based methods over recent data-driven approaches. The datasets include monocular images and IMU measurements, with multiple sequences performing a variety of maneuvers and covering four ISS modules. The sensor data is spatio-temporally aligned, and extrinsic/intrinsic calibrations, ground-truth 6-DoF camera poses, and detailed 3D CAD models are included to support evaluation. The datasets are available at:https://astrobee-iss-dataset.github.io/.","published":"2024-02-12","addedAt":"2024-02-12","year":2024,"venue":{"id":"ral","label":"RA-L 2024","year":2024,"isWorkshop":false,"raw":"IEEE Robotics and Automation Letters"},"intersection":"both","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"perception","code":"T5","label":"Perception & State Estimation","source":"official","via":["openalex-topic:Robotics and Sensor-Based Localization","openalex-topic:Inertial Sensor and Navigation","openalex-keyword:visual-inertial localization","openalex-keyword:camera pose estimation"]},{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:free-fly"]},{"id":"simulation-testbeds","code":"T13","label":"Simulation, Digital Twins & Benchmarks","source":"official","via":["openalex-keyword:benchmark dataset","title:dataset","abstract:benchmark","abstract:dataset"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T10191","name":"Robotics and Sensor-Based Localization","score":0.996},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.001},{"id":"T11325","name":"Inertial Sensor and Navigation","score":0}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":11,"links":{"page":"https://space-robots.org/papers/paper/doi%3A10.1109/lra.2024.3364834","arxiv":null,"pdf":null,"html":null,"doi":"https://doi.org/10.1109/lra.2024.3364834","code":null,"project":null},"match":"words"},{"id":"2512.03729","title":"Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) International Space Station Astrobee Testing","authors":["Samantha Chapin","Kenneth Stewart","Roxana Leontie","and Carl Glen Henshaw"],"abstract":"The US Naval Research Laboratory's (NRL's) Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) experiment pioneers the use of reinforcement learning (RL) for control of free-flying robots in the zero-gravity (zero-G) environment of space. On Tuesday, May 27th 2025 the APIARY team conducted the first ever, to our knowledge, RL control of a free-flyer in space using the NASA Astrobee robot on-board the International Space Station (ISS). A robust 6-degrees of freedom (DOF) control policy was trained using an actor-critic Proximal Policy Optimization (PPO) network within the NVIDIA Isaac Lab simulation environment, randomizing over goal poses and mass distributions to enhance robustness. This paper details the simulation testing, ground testing, and flight validation of this experiment. This on-orbit demonstration validates the transformative potential of RL for improving robotic autonomy, enabling rapid development and deployment (in minutes to hours) of tailored behaviors for space exploration, logistics, and real-time mission needs.","published":"2025-12-03","addedAt":"2025-12-03","year":2025,"venue":{"id":"isparo","label":"iSpaRo 2025","year":2025,"isWorkshop":false,"raw":"International Conference on Space Robotics (iSpaRo)"},"intersection":"both","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"},{"id":"in-space-servicing","label":"IN-SPACE SERVICING"}],"techniques":[{"id":"learning","code":"T8","label":"Learning-based Methods","source":"official","via":["arxiv:cs.LG","openalex-topic:Reinforcement Learning in Robotics","openalex-keyword:reinforcement learning","openalex-keyword:proximal policy optimization"]},{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:free-flying robots","openalex-keyword:Astrobee","title:free-fly","abstract:free-fly"]},{"id":"gnc","code":"T7","label":"Guidance, Dynamics & Control","source":"official","via":["arxiv:eess.SY"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":["cs.RO","cs.LG","cs.SY","eess.SY"],"openalexTopics":[{"id":"T10462","name":"Reinforcement Learning in Robotics","score":0.892},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.106},{"id":"T14214","name":"Space Exploration and Technology","score":0}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":6,"links":{"page":"https://space-robots.org/papers/paper/2512.03729","arxiv":"https://arxiv.org/abs/2512.03729","pdf":"https://arxiv.org/pdf/2512.03729","html":"https://arxiv.org/html/2512.03729","doi":"https://doi.org/10.1109/isparo66239.2025.11436341","code":null,"project":null},"match":"words"},{"id":"ntrs:20180003326","title":"Astrobee: A New Tool for ISS Operations","authors":["Maria G. Bualat","Trey Smith","Ernest E. Smith","Terrence Fong","DW Wheeler"],"abstract":"The Astrobee","published":"2018-05-25","addedAt":"2018-05-28","year":2018,"venue":{"id":"spaceops","label":"SpaceOps 2018","year":2018,"isWorkshop":false,"raw":"International Conference on Space Operations (SpaceOps 2018)"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","ntrs-keyword:Astrobee","ntrs-keyword:free flyer","title:astrobee"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.48},{"id":"T14214","name":"Space Exploration and Technology","score":0.436},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.026}],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":78,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20180003326/","arxiv":null,"pdf":"https://arc.aiaa.org/doi/pdf/10.2514/6.2018-2517","html":null,"doi":"https://doi.org/10.2514/6.2018-2517","code":null,"project":null},"match":"words"},{"id":"oa:W2898834255","title":"SPHERES/Astrobee ISS Free-Flyer Facility","authors":["Jose Benavides"],"abstract":"The Evolving Commercial Laboratory: What's Next in Research CapabilitiesAdvancing the research capabilities that are present on the International Space Station is critical to the future of advancing space based R&D as well as enabling a commercial economy in LEO. The options for ISS research are constantly adapting and many new research capabilities are here today and on the horizon. This session will feature presentations and an open discussion with commercial facility providers who are leading a renaissance of in-orbit capabilities that are updating and expanding the R&D opportunities that are available to microgravity and space based researchers aboard the International Space Station.","published":"2018-07-23","addedAt":"2018-07-23","year":2018,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flyer","title:astrobee"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T12717","name":"Space exploration and regulation","score":0.475},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.222},{"id":"T12005","name":"Spaceflight effects on biology","score":0.138}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW2898834255/","arxiv":null,"pdf":"http://hdl.handle.net/2060/20180006630","html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W2947035399","title":"Astrobee: Air Sampling Device and Zero Robotics Game","authors":["Bryce Van Ross"],"abstract":"Astrobee is a free-flying, 1'x1'x1' cuboid robot that is planned to be onboard the International Space Station (ISS) by February 2019. Astrobee will be the successor of the current ISS free-flyer, SPHERES. Free-flying robots possess a range of potential. They can facilitate work for astronauts aboard the ISS by performing rudimentary tasks and housekeeping (e.g., record-keeping, sensor analysis, etc.) efficiently. Free-flyers also act as innovative testbeds for guest scientists to perform zero-gravity control theory research. In recent years, SPHERES has hosted annual Zero Robotics (ZR) programming competitions in collaboration with MIT, challenging middle and high school students to write code to win an annual game. The ZR program will need to transition from SPHERES to Astrobee soon, beginning with a novel game. The Microbial Tracking Series (MT) focuses on characterizing the ISS atmosphere via microbial sampling. The current Air Sampling Device (ASD) has been used for over a decade and doesn’t collect sufficient biomass. The Astrobee ASD will be designed to assist crew members with the sampling procedure, with the goal of improving upon the past procedure.","published":"2018-01-01","addedAt":"2018-01-01","year":2018,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"},{"id":"isru-construction","label":"ISRU & CONSTRUCTION"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"text","via":["abstract:astronaut","abstract:crew"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"},{"id":"spheres","name":"SPHERES","fields":["abstract"],"page":"https://space-robots.org/papers/missions/spheres/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.47},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.389},{"id":"T14214","name":"Space Exploration and Technology","score":0.057}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW2947035399/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"2009.09151","title":"Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot","authors":["A. Cauligi","T. G. Chen","S. A. Suresh","M. Dille","R. Garcia Ruiz","A. Mora Vargas","M. Pavone","M. Cutkosky"],"abstract":"Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing manipulation technologies in being able to grasp and manipulate surrounding objects. Instead, gecko-inspired adhesives offer many advantages for an alternate grasping and manipulation paradigm for use in assistive free-flyer applications. In this work, we present the design of a gecko-inspired adhesive gripper for performing perching and grasping maneuvers for the Astrobee robot, a free-flying robot currently operating on-board the International Space Station. We present software and hardware integration details for the gripper units that were launched to the International Space Station in 2019 for in-flight experiments with Astrobee. Finally, we present preliminary results for on-ground experiments conducted with the gripper and Astrobee on a free-floating spacecraft test bed.","published":"2020-09-19","addedAt":"2020-09-19","year":2020,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:free-fly"]},{"id":"manipulation","code":"T1","label":"Manipulation & Grasping","source":"official","via":["openalex-keyword:grasping","title:gripper","abstract:manipulat","abstract:grasp"]},{"id":"design-hardware","code":"T14","label":"Design, Mechanisms & Hardware","source":"official","via":["openalex-keyword:soft robotics"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":["cs.RO"],"openalexTopics":[{"id":"T11799","name":"Adhesion, Friction, and Surface Interactions","score":0.731},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.186},{"id":"T14214","name":"Space Exploration and Technology","score":0.028}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":23,"links":{"page":"https://space-robots.org/papers/paper/2009.09151","arxiv":"https://arxiv.org/abs/2009.09151","pdf":"https://arxiv.org/pdf/2009.09151","html":"https://ar5iv.labs.arxiv.org/html/2009.09151","doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W3177976526","title":"Design, Testing, and Analysis of Self Toss Hopping Maneuvers of Astrobee at NPS and NASA Ames Research Center","authors":["Conor P. Safbom"],"abstract":"Robotic hopping is a novel approach to microgravity mobility for a small spacecraft to use a robotic arm manipulator to toss a vehicle toward a destination. The Spacecraft Robotics Laboratory (SRL) at the Naval Postgraduate School (NPS) has demonstrated the viability of this mobility approach on its microgravity research testbed, POSEIDYN. SRL shall attempt this mobility approach with NASA’s Astrobee free-flyer, a small robotic research platform designed to operate in microgravity, onboard the International Space Station. In preparation for this experimental campaign, self-toss maneuvers were tested at both NPS and at NASA Ames Research Center. These maneuvers were performed using Astrobee’s existing perching arm, and a variety of initial and end angles were tested for both the distal and proximal joints of the arm. This thesis analyzed these results and presented the path ahead for SRL’s research with Astrobee.","published":"2020-06-01","addedAt":"2020-06-01","year":2020,"venue":{"id":"other","label":"Calhoun: The Naval Postgraduate School Institutional Archive (Naval Postgraduate School)","year":2020,"isWorkshop":false,"raw":"Calhoun: The Naval Postgraduate School Institutional Archive (Naval Postgraduate School)"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flyer","title:astrobee","abstract:microgravity mobil"]},{"id":"manipulation","code":"T1","label":"Manipulation & Grasping","source":"text","via":["abstract:robotic arm","abstract:manipulat"]},{"id":"surface-mobility","code":"T2","label":"Surface Mobility & Terramechanics","source":"text","via":["title:hopping"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.963},{"id":"T14214","name":"Space Exploration and Technology","score":0.019},{"id":"T11082","name":"Spacecraft Dynamics and Control","score":0.007}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW3177976526/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W2964962461","title":"Astrobee Robot Software: Enabling Mobile Autonomy on the ISS","authors":["Lorenzo Flückiger","Brian Coltin"],"abstract":"Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This slides presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot.The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). We present the software approach, infrastructure required, and main software components.","published":"2019-05-10","addedAt":"2019-05-10","year":2019,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"both","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","title:astrobee","abstract:astrobee","abstract:free-fly"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"official","via":["openalex-keyword:teleoperation","abstract:crew","abstract:teleoperat"]},{"id":"rpo-docking","code":"T4","label":"Rendezvous, Proximity Ops & Docking","source":"official","via":["openalex-keyword:autonomous docking"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T13382","name":"Robotics and Automated Systems","score":0.455},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.26},{"id":"T14214","name":"Space Exploration and Technology","score":0.069}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":14,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW2964962461/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20240004963","title":"Lessons Learned from Astrobee Operations on the International Space Station","authors":["R Carlino","A Mora Vargas","J Benavides","J Barlow","H Orosco","A Katterhagen","S Kanis"],"abstract":"Since its launch in 2019, NASA has been operating three Astrobee free-flying robots providing an autonomous and adaptable research platform aboard the International Space Station (ISS). These robots have not only facilitated a myriad of national and international research endeavors in microgravity but have also served as a STEM outreach platform for student competitions aboard the ISS. Amidst its extensive operational tenure, spanning over five years and exceeding 1200 hours of cumulative free-flyer operation as of April 2024, the Astrobee robots have encountered software and hardware anomalies. Despite its inherent design for on-orbit repair or replacement, certain anomalies have proven to be complex, necessitating remote resolution via software and firmware updates or, in extreme cases, hardware replacements or the return of faulty units to NASA's ground facilities for repair. Such challenges underscore the delicate balance between the autonomous functionality of Astrobee and the occasional need for human intervention to maintain optimal performance. One recurring point of failure identified during Astrobee's operational lifespan has been the SD card, a critical component utilized by the different Astrobee processors and the Dock Station. The occurrence of SD card anomalies, both on orbit and within ground units, has provided invaluable insights into the improvement of Astrobee's systems and mitigation to future faults. This presentation will focus on four key areas: 1. Overview of Faults and Anomalies: A comprehensive examination of the diverse array of faults and anomalies encountered by Astrobee and its associated systems both in orbit and on the ground. From software glitches to hardware malfunctions, this section provides insights into the challenges faced during Astrobee's operational tenure. 2. Resolution Processes and Procedures: An in-depth discussion of the methodologies and procedures implemented to resolve the encountered anomalies. This includes remote troubleshooting, software patches, firmware updates, and, when necessary, the logistics involved in hardware replacements or down-massing for repair. 3. Implementation of Software Updates and Hardware Upgrades: A detailed exploration of the strategies employed to mitigate the risk of recurring anomalies through the implementation of software updates and hardware upgrades. This section highlights the iterative nature of Astrobee's development, emphasizing the continuous pursuit of robustness and reliability. 4. Lessons Learned and Future Directions: Reflecting on the insights gained from addressing anomalies, this section examines the lessons learned and outlines future directions for enhancing Astrobee's robustness and resilience. It underscores the iterative nature of space exploration and the importance of adaptability and continuous improvement in the pursuit of scientific discovery. Through a nuanced examination of Astrobee's operational challenges and the strategies employed to overcome them, this presentation sheds light on the complexities of operating autonomous robotic systems in the ISS environment. It underscores NASA's commitment to pushing the boundaries of exploration and innovation while navigating the inherent challenges of space exploration.","published":"2024-07-30","addedAt":"2024-07-30","year":2024,"venue":{"id":"other","label":"13th Annual International Space Station Research and Development Conference","year":2024,"isWorkshop":false,"raw":"13th Annual International Space Station Research and Development Conference"},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["ntrs-keyword:Astrobee","title:astrobee","abstract:astrobee","abstract:free-fly"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20240004963/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"oa:W3042965210","title":"Space Technology Mission Directorate Game Changing Development Program Astrobee","authors":["Maria G. Bualat"],"abstract":"The HET2/Astrobee project is developing a new free-flying robot to succeed the existing SPHERES facility as a guest science research platform and to perform IVA work on the ISS. Relevance: The project will increase the capabilities of robots to perform IVA/EVA work in space and will increase the efficiency of human explorers by allowing routine, repetitive work to be off-loaded to robots. Approach: The project conducted incremental design and development of a robotic free flyer that meets project, stakeholder, and ISS interface and safety requirements. Results: 3 free flyers are on-orbit. The first robot has been unpacked and has begun flying autonomously within the ISS under crew supervision. Commissioning activities to validate the system continue.","published":"2019-09-25","addedAt":"2019-09-25","year":2019,"venue":{"id":"preprint","label":"Preprint","year":null,"isWorkshop":false,"raw":null},"intersection":"robotics","domains":[{"id":"orbital-robotics","label":"ORBITAL ROBOTICS"}],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","openalex-keyword:free-flying robots","title:astrobee","abstract:astrobee"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"},{"id":"spheres","name":"SPHERES","fields":["abstract"],"page":"https://space-robots.org/papers/missions/spheres/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T11701","name":"Space Satellite Systems and Control","score":0.558},{"id":"T14214","name":"Space Exploration and Technology","score":0.338},{"id":"T12449","name":"Spacecraft Design and Technology","score":0.065}],"ntrsSubjects":[],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/oa%3AW3042965210/","arxiv":null,"pdf":null,"html":null,"doi":null,"code":null,"project":null},"match":"words"},{"id":"ntrs:20170010196","title":"Astrobee POIWG 41 Splinter Presentation","authors":["Maria G. Bualat"],"abstract":"Presentation to the POIC cadre at the Astrobee splinter of the Payload Operations Integration Working Group meeting #41.","published":"2017-04-25","addedAt":"2017-04-25","year":2017,"venue":{"id":"other","label":"Payload Operations Integration Working Group (POIWG) Meeting#41","year":2017,"isWorkshop":false,"raw":"Payload Operations Integration Working Group (POIWG) Meeting#41"},"intersection":"robotics","domains":[],"techniques":[{"id":"free-flyers","code":"T3","label":"Microgravity Mobility & Free-Flyers","source":"official","via":["openalex-keyword:Astrobee","ntrs-keyword:Astrobee","ntrs-keyword:free flyer","title:astrobee"]},{"id":"hri-teleoperation","code":"T11","label":"HRI & Teleoperation","source":"official","via":["openalex-keyword:crewed spacecraft"]}],"missions":[{"id":"astrobee","name":"Astrobee","fields":["title","abstract","keywords"],"page":"https://space-robots.org/papers/missions/astrobee/"}],"indexedAs":{"arxiv":[],"openalexTopics":[{"id":"T12449","name":"Spacecraft Design and Technology","score":0.624},{"id":"T14214","name":"Space Exploration and Technology","score":0.152},{"id":"T11701","name":"Space Satellite Systems and Control","score":0.08}],"ntrsSubjects":["Cybernetics, Artificial Intelligence and Robotics"],"ieeeTerms":[]},"cardTag":"RESEARCH // ORBITAL ROBOTICS","citations":0,"links":{"page":"https://space-robots.org/papers/paper/ntrs%3A20170010196/","arxiv":null,"pdf":"https://ntrs.nasa.gov/api/citations/20170010196/downloads/20170010196.pdf","html":null,"doi":null,"code":null,"project":null},"match":"words"}]}