Abstract This paper presents a decentralized, distributed guidance and control scheme to combine a heterogeneous swarm of component satellites into a large satellite structure. The component satellites for the heterogeneous swarm are chosen to promote flexibility in final shape inspired by crystal structures and Islamic tile art. After the ideal fundamental building blocks are selected, basic nanosatellite-class satellite designs are made to assist in simulations involving attitude control. The Swarm Orbital Construction Algorithm (SOCA) is a guidance and control algorithm to allow for the limited type heterogeneity and docking ability required for in-orbit assembly. The algorithm consists of two parts, a distributed auction which uses barrier functions to ensure the proper agent selection for each target, and a trajectory generation portion which leverages model predictive control and sequential convex programming to achieve optimal collision-free trajectories to the desired target point even with nonlinear system dynamics. The optimization constraints use a boundary layer to determine whether the collision avoidance or the docking constraints should be applied. The algorithm was tested in a simulated perturbed 6-DOF spacecraft dynamic environment for planar and out-of-plane final structures and on two robotic platforms, including a swarm of frictionless spacecraft simulation robots.

    Highlights Optimal assignment uses a distributed auction algorithm for heterogeneous swarms. Optimal guidance and control use a sequential convex program for nonlinear dynamics. Collision avoidance is handled carefully so docking is still enabled. Algorithm is validated using perturbed 6DOF spacecraft dynamics. Self-assembly is shown on wheeled robots and spacecraft simulator robots.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autonomous in-orbit satellite assembly from a modular heterogeneous swarm


    Contributors:

    Published in:

    Acta Astronautica ; 169 ; 191-205


    Publication date :

    2020-01-02


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    AUTONOMOUS IN-ORBIT SATELLITE ASSEMBLY FROM A MODULAR HETEROGENEOUS SWARM USING SEQUENTIAL

    Foust, Rebecca C. / Chung, Soon-Jo / Hadaegh, Fred Y. | British Library Conference Proceedings | 2016



    Modular telecommunication satellite network using on-orbit telerobotic assembly

    Ayer, S. / Drayer, G. / England, S. et al. | IEEE | 2001


    On-orbit reconfigurable modular satellite

    XU DAFU / FENG YUFEI / WEI GUONING et al. | European Patent Office | 2023

    Free access

    AUTONOMOUS MISSION PLANNING FOR OLFAR: A SATELLITE SWARM IN LUNAR ORBIT FOR RADIO ASTRONOMY

    Mok, Sung-Hoon / Guo, Jian / Gill, Eberhard et al. | TIBKAT | 2021