Research/ ORBITAL ROBOTICS
Deformable Cargo Transport in Microgravity with Astrobee
Daniel Morton, Rika Antonova, Brian Coltin, Marco Pavone, Jeannette Bohg
Guidance, Dynamics & ControlOpenAlex keyword: model predictive control · Microgravity Mobility & Free-FlyersOpenAlex keyword: Astrobee · Simulation, Digital Twins & BenchmarksOpenAlex keyword: simulation environment
Astrobeenamed in title, abstract, keywords
arXivcs.ROOpenAlexSpace Satellite Systems and Control · Space Exploration and Technology · Spacecraft Dynamics and Control
We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee