Research/ IN-SPACE SERVICING
Inertial Transfer Concept for Autonomous In-Space Assembly
Benjamin E. Hargis, Walter J. Waltz, Sherif Shazley, William R. Doggett, B. Danette Allen
Multi-Robot & SwarmsOpenAlex keyword: multi-agent systems · Perception & State EstimationOpenAlex keyword: state estimation uncertainty
OpenAlexSpace Satellite Systems and Control · Spacecraft Dynamics and Control · Space Technology and ApplicationsNTRSCybernetics, Artificial Intelligence and Robotics
View Video Presentation: https://doi.org/10.2514/6.2021-0184.vid Rocket payload and fairing size have placed strict mass and volume limitations on single launch in-space structures. These limitations are what motivates In-Space Assembly (ISA) and where InertialTransfer has potential to improve or augment ISAcapabilities by utilizing a multiagent autonomous system to transport untethered payloads. The Inertial Transfer concept is presented including autonomy capabilities, potential risks, and three system configurations. These configurations are based on the autonomous system’s available sensor coverage that tracks the payload’s state. Participating agents have well-defined roles, expectations, and assumptions in their physical organization and coordination of actions depending the mode of operation. The sensor information available to participating agents is considered as it affects the uncertainty in the estimated state and the actions required to capture the payload.