Autonomous capture of a tumbling satellite

Journal of Field Robotics

Volumn 24, Issue 4, 2007, Pages 275-296

  Rekleitis, Ioannis ^a   Martin, Eric ^a   Rouleau, Guy ^a   L'Archevêque, Régent ^a   Parsa, Kourosh ^a   Dupuis, Eric ^a  

^a CANADIAN SPACE AGENCY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

BANDWIDTH; ROBOTICS; TELECOMMUNICATION LINKS;

AUTONOMOUS CAPTURE; REMOTE-OPERATION;

SATELLITE COMMUNICATION SYSTEMS;

EID: 34248662121     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.20194     Document Type: Article

References (45)

1. Alami, R., Chatila, R., Fleury, S., Ghallab, M., & Ingrand, F. (1998). An architecture for autonomy. Inernational Journal of Robotics Research 17(4), 315-337.
2. Boge, T., & Schreutelkamp, E. (2002). A new commanding and control environment for rendezvous and docking simulations at the EPOS facility. In Proc. 7th Int. Workshop on Simulation for European Space Programmes (SESP), Noordwijk.
3. Bosse, A.B., Barnds, W.J., Brown, M.A., Creamer, N.G., Feerst, A., Henshaw, C.G., Hope, A.S., Kelm, B.E., Klein, P.A., Pipitone, F., Plourde, B.E., & Whalen, B.P. (2004). SUMO: Spacecraft for the universal modification of orbits. In Proc. SPIE, Spacecraft Platforms and Infrastructure, Vol. 5419, pp. 36-46.
4. Brunner, B., Landzettel, K., Schreiber, G., Steinmetz, B., & Hirzinger, G. (1999). A universal task-level ground control and programming system for space robot applications - the marco concept and its applications to the ets-vii project. In Proc. Fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS 99), pp. 217-224, ESTEC, Noordwijk, The Netherlands.
5. Didot, F., Oort, M., Kouwen, J., & Verzijden, P. (2001). The ERA system: Control architecture and performance results. In Proc. 6th Int. Symposium on Artificial Intelligence Robotics and Automation in Space (i-SAIRAS), Montreal, Canada.
6. Dupuis, E., & Gillet, R. (2002). Remote operation with supervised autonomy. In 7th ESA Workshop on Avanced Space Technologies in Robotics and Automation (ASTRA 2002), Noordwijk, The Netherlands.
7. Dupuis, E., Gillett, G.R., Boulanger, P., Edwards, E., & Lipsett, M.G. (1999). Interactive, intelligent remote operations: Application to space robotics. In Proceedings of the SPIE Telemanipulator and Telepresence Technologies VI, Boston, MA.
8. Dupuis, E., Gillett, R., L'Archevêque, R., & Richmond, J. (2001). Ground control of international space station robots. Machine Intelligence and Robotic Control 3(3), 91-98.
9. Dupuis, E., L'Archevêque, R., Allard, P., Rekleitis, I., & Martin, E. (2006). Intelligent space robotics, chapter A Framework for Autonomous Space Robotics Operations (pp. 217-234) San Antonio, Texas: TSI Press.
10. Fehse, W. (2003). Automated rendezvous and docking of spacecraft. Cambridge Aerospace Series (No. 16). Cambridge: Cambridge University Press.
11. Fontaine, B., Steinicke, L., & Visentin, G. (1996). A reusable and flexible control station for preparing and executing robotics missions in space. In International Symposium on Space Mission Operation & Ground Data Systems (SpaceOps 96), Munich, Germany.
12. Gennery, D. B. (1992). Visual tracking of known three-dimensional objects. Int. J. Comput. Vision 7(3), 243-270.
13. Goldstein, H. (1980). Classical mechanics, 2nd ed. Reading, MA: Addison-Wesley.
14. Grossman, E., & Costa, K. (2003) Small, experimental satellite may offer more than meets the eye. Inside The Pentagon.
15. Hirzinger, G., Brunner, B., Dietrich, J., & Heindl, J. (1993). Sensor-based space robotic-rotex and its telerobotic features. IEEE Transactions on Robotics and Automation 9(5), 649-663.
16. Hoffman, B.H., Baumgartner, E.T., Huntsberger, T.A., & Schenker, P.S. (1999). Improved state estimation in challenging terrain. Autonomous Robots 6(2), 113-130.
17. Huntsberger, T., Pirjanian, P., Trebi-Ollennu, A., Nayar, H.D., Aghazarian, H., Ganino, A., Garrett, M., Joshi, S., & Schenker, P. (2003). Campout: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration. IEEE Transactions on Systems, Man and Cybernetics, Part A 33(5), 550-559.
18. Inaba, N., & Oda, M. (2000). Autonomous satellite capture by a space robot: world first on-orbit experiment on Japanese robot satellite ets-vii. In Proceedings. ICRA '00. IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1169-1174, San Francisco, CA.
19. Kaplan, M.H. (1976). Modern spacecraft dynamics and control. New York: Wiley.
20. Kasai, T., Oda, M., & Suzuki, T. (1999). Results of the ETS-7 mission, rendezvous docking and space robotics experiment. In Proc. 5th Int. Symposium on Artificial Intelligence, Robotics and Automation In Space (i-SAIRAS), Noordwijk, The Netherlands.
21. Kawasaki, O., Imada, T., Yamanaka, K., & Tanaka, T. (2000). On-orbit demonstration and operations plan of the H-II transfer vehicle (HTV). In The 51th Int. Astronautical Congress, Rio de Janeiro, Brazil.
22. King, D. (2004). Saving Hubble. In The 55th Int. Astronautical Congress, Vancouver, Canada.
23. Laliberté, T., Birglen, L., & Gosselin, C. (2002). Underactuation in robotic grasping hands. Japanese Journal of Machine Intelligence and Robotic Control, Special Issue on Underactuated Robots 4(3), 77-87.
24. Lewis, J. (2004). Space weapons in the 2005 US defense budget request. In. Workshop on Outer Space and Security, Geneva, Switzerland.
25. Liang, B., Li, C., Xue, L. & Qiang, W. (2006). A Chinese small intelligent space robotic system for on-orbit servicing. In Proc. IEEE/ RSJ Int. Conf. Intelligent Robots and Systems, pp. 4602-4607, Beijing, China.
26. Martin, E., Dupuis, E., Piedboeuf, J.-C., & Doyon, M. (2005). The TECSAS mission from a Canadian perspective. In Proc. 8th International Symposium on Artificial Intelligence and Robotics and Automation in Space (i-SAIRAS), Munich, Germany.
27. Maxwell, S., Cooper, B., Hartman, E, Wright, J., & Yen, J. (2004). The design and architecture of the rover sequencing and visualization program (rsvp). In Proceedings of the 8th International Conference on Space Operations, Montreal, Canada.
28. Nagamatsu, H., Kubota, T., & Nakatani, I. (1996). Capture strategy for retrieval of a tumbling satellite by a space robotic manipulator. In Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 70-75, Minneapolis, MN.
29. Nakamura, Y. (1991). Advanced robotics: redundancy and optimization. Reading, MA: Addison-Wesley.
30. Nelson, B., & Khosla, P. (1993). Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance. In Proc. IEEE Int. Conf. Robotics and Automation, Vol. 3, pp. 418-423.
31. Nesnas, I., Wright, A., Bajracharya, M., Simmons, R., & Estlin, T. (2003). Claraty and challenges of developing interoperable robotic software. In International Conference on Intellligent Robots and Systems (IROS), pp. 2428-2435, Las Vegas, Nevada.
32. Potter, S. (2002). Orbital express: Leadilng the way to a new space architecture. In Proc. Space Core Tech Conference, Colorado Spring, CO.
33. 3DLASSO: Real-time pose estimation from 3D data for autonomous satellite servicing. In Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - iSAIRAS, Munich, Germany.
34. Rumford, T.E. (2003). Demonstration of autonomous rendezvous technology (DART) project summary. Proc. SPIE, 5088, 10-19.
35. Sato, N., & Doi, S. (2000). JEM remote manipulator system (JEMRMS) human-in-the-loop test. In Proc. 22nd Int. Symp. Space Technology and Science, Morioka, Japan.
36. Sommer, B. (2004) Automation and robotics in the german space program Unmanned on-orbit servicing (OOS) & the TECSAS mission. In Proc. the 55th Int. Astronautical Congress, Vancouver, Canada.
37. Stieber, M., Sachdev, S., & Lymer, J. (2000). Robotics architecture of the mobile servicing system for the international space station. In Proc. 31st Int. Symp. on Robotics (ISR), Montreal, Quebec.
38. Volpe, R., Nesnas, I., Estlin, T., Mutz, D., Petras, R. & Das, H. (2001). The claraty architecture for robotic autonomy. In Proceedings of the 2001 IEEE Aerospace Conference, Big Sky, MT.
39. Whelan, D., Adler, E., Wilson, S., & Roesler, G. (2000). DARPA Orbital Express program: effecting a revolution in space-based systems. In Proc. SPIE, Small Payloads in Space, Vol. 4136, pp. 48-56.
40. Wilcox, B., Tso, K., Litwin, T., Hayati, S., & Bon, B. (1989). Autonomous sensor based dual-arm satellite grappling. In NASA-Conference on Space Telerobotics, Pasadena, CA.
41. Wingo, D.R. (2004). Orbital Recovery's responsive commercial space tug for life extension missions. In Proc. the AIAA 2nd Responsive Space Conference, Los Angeles, CA.
42. Yoshida, K. (2003). Engineering test satellite vii flight experiments for space robot dynamics and control: Theories on laboratory test beds ten years ago, now in orbit. The International Journal of Robotics Research 22(5), 321-335.
43. Yoshida, K. (2004). Contact dynamics and control strategy based on impedance matching for robotic capture of a non-cooperative satellite. In Proc. 15th CISM-IFT0MM Symp. on Robot Design, Dynamics and Control - Romansy, St-Hubert, Canada.
44. Yoshida, K., Nakanishi, H., Ueno, H., Inaba, N., Nishimaki, T., & Oda, M. (2004). Dynamics, control, and impedance matehing for robotic capture of a noncooperative satellite. RSJ Advanced Robotics 18(2), 175-198.
45. Yoshikawa, T. (1985). Manipulability of robotic mechanisms. Int. J. of Robotic Research 4(5), 3-9.