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Astrobee Research Publications

2023

Caroline Specht, Abhiraj Bishnoi and Roberto Lampariello (2023) Autonomous Spacecraft Rendezvous Using Tube-Based Model Predictive Control: Design and Application. Journal of Guidance, Control, and Dynamics Vol. 46, No. 7, July 2023

2022

Albee, Keenan and Specht, Caroline and Mishra, Hrishik and Oestreich, Charles and Brunner, Bernhard and Lampariello, Roberto and Linares, Richard (2022) Autonomous Rendezvous with an Uncertain, Uncooperative Tumbling Target: the TumbleDock Flight Experiments. In: 16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2022). ASTRA 2022, 1-2 Jun 2022, ESA-ESTEC, Noordwijk, the Netherlands.
Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith.
AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot.
International Conference on Robotics and Automation (ICRA), 2022. PDF
IIan D. Miller, Ryan Soussan, Brian Coltin, Trey Smith, and Vijay Kumar.
Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity.
International Conference on Robotics and Automation (ICRA), 2022. PDF
Mohamed Khalil Ben-Larbi,René Hensel,Gianfranco Atzeni,Eduard Arzt,Enrico Stoll.
Orbital debris removal using micropatterned dry adhesives: review and recent advances.
Preprint submitted to Elsevier, 2022. PDF

2021

M. Ekal, K. Albee, B. Coltin, R. Ventura, R. Linares, and D. W. Miller.
Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic (Virtual), Oct. 2021.
C. Oestreich, A. Teran, J. Todd, K. Albee, and R. Linares.
On-Orbit Inspection of an Unknown, Tumbling Target using NASA’s Astrobee Robotic Free-Flyers.
Conference on Computer Vision and Pattern Recognition, (Virtual), 2021.
K. Albee et al.
A Robust Observation, Planning, and Control Pipeline for Autonomous Rendezvous with Tumbling Targets.
Frontiers in Robotics and AI, vol. 8, p. 234, 2021, doi: 10.3389, 2021.

2020

Earl Daley.
Astrobee Free-Flyer Nozzle Mechanism.
Proceedings of the 45th Aerospace Mechanisms Symposium, NASA Johnson Space Center, 2020. PDF

2019

Keenan Albee and Brian Coltin.
Kinodynamic-RRT for Robotic Free-Flyers: Generating Feasible Trajectories for On-orbit Mobile Manipulation.
Proc. IEEE Int. Conf. Rob. Automation (ICRA) Workshop: Toward Online Optimal Control of Dynamic Robots, 2019.
Katrina P. Alsup.
Robotic Spacecraft Hopping: Application and Analysis.
Master’s Thesis, Naval Postgraduate School, 2018. PDF
Katrina P. Alsup, Josep Virgili-Llop, Justin Komma, and Marcello Romano.
Analysis and simulation of robotic hopping maneuvers inside the International Space Station with Astrobee.
Proc. American Astronautical Society, Space Flight Mechanics Meeting, Maui, 2019. VIDEO
R. Bonalli, A. Cauligi, A. Bylard, and M. Pavone.
GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming.
Proc. IEEE Int. Conf. Rob. Automation (ICRA), 2019. PDF
R. Bonalli, A. Bylard, A. Cauligi, T. Lew, and M. Pavone.
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach.
Proc. Robotics: Science and Systems (RSS), 2019.
Andres Mora Vargas, Ruben Garcia Ruiz, Peter Wofford, Vivek Kumar, Bryce Van Ross, Aric Katterhagen, Jonathan Barlow, Lorenzo Flückiger, Jose Benavides, Trey Smith, and Maria Bualat.
Astrobee: Current Status and Future Use as an International Research Platform.
Proc. IAF Int. Astronautical Congress (IAC), 2019.
I. W. Park, T. Smith, and J. F. Love.
Thermal Design of Astrobee Perching Arm.
Proc. IEEE/SICE Int. Symp. System Integration (SII), 2019. Details
Marcello Romano.
Astrobatic: A hopping-maneuver experiment for a spacecraft-manipulator system on board the International Space Station.
Proc. IAF Int. Astronautical Congress (IAC), 2019.

2018

Miguel Borges, Andrew Symington, Brian Coltin, Trey Smith, and Rodrigo Ventura.
HTC Vive: Analysis and Accuracy Improvement.
Proc. Int. Conf. Intelligent Robots and Systems (IROS), 2018.
Maria G. Bualat, Trey Smith, Ernest E. Smith, Terrence Fong, DW Wheeler, and the Astrobee Team.
Astrobee: A New Tool for ISS Operations.
Proc. SpaceOps (AIAA 2018-2517), 2018. PDF
Tianjian Chen, Maximilian Haas-Heger, and Matei Ciocarlie.
Underactuated Hand Design Using Mechanically Realizable Manifolds.
Proc. IEEE Int. Conf. Rob. Automation (ICRA), 2018. Details
Teresa Conceição, Brian Coltin, Andrew Symington, Lorenzo Flückiger, and Trey Smith.
Joint Visual and Time-of-Flight Camera Calibration for an Automatic Procedure in Space.
Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2018. PDF
Lorenzo Fluckiger, Kathryn Browne, Brian Coltin, Jesse Fusco, Theodore Morse, and Andrew Symington.
Astrobee Robot Software: Enabling Mobile Autonomy on the ISS.
Proc. Int. Symp. on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2018. PDF
Justin Komma. Mechatronics: The development, analysis, and ground-based demonstrations of robotic spacecraft hopping with a manipulator.
Master’s thesis, Naval Postgraduate School, 2018. PDF
Dong-Hyun Lee, Brian Coltin, Theodore Morse, In-Won Park, Lorenzo Flückiger, and Trey Smith.
Handrail detection and pose estimation for a free-flying robot.
Int. J. Adv. Robot. Syst., 15(1), 2018. Details
Michael Watterson, Sikang Liu, Ke Sun, Trey Smith, and Vijay Kumar.
Trajectory Optimization On Manifolds with Applications to SO(3) and R3 x S2.
Proc. Robotics: Science and Systems (RSS), 2018. PDF

2017

Jonathan Barlow, Jose Benavides, Chris Provencher, Maria Bualat, Trey Smith, Andres Mora.
Astrobee Guest Science.
Proc. Int. Space Station Res. Dev. Conf. (ISS-RDC), 2017.
Pyojin Kim, Brian Coltin, Oleg Alexandrov, and H Jin Kim.
Robust Visual Localization in Changing Lighting Conditions.
Proc. Int. Conf. Rob. Automation (ICRA), 2017. PDF
Yunkyung Kim and Terry Fong.
Signaling Robot State with Light Attributes.
Proc. IEEE/ACM Int. Conf. on Human-Robot Interaction (HRI), 2017. PDF
In-Won Park, Trey Smith, Sze Wun Wong, Pedro Piacenza, Matei Ciocarlie.
Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station.
Proc. IEEE Int. Conf. Adv. Int. Mech. (AIM), 2017. PDF

2016

Brian Coltin, Jesse Fusco, Zack Moratto, Oleg Alexandrov, and Robert Nakamura.
Localization from Visual Landmarks on a Free-Flying Robot.
Proc. Int. Conf. on Intelligent Robots and Systems (IROS), 2016. PDF
Trey Smith, Jonathan Barlow, Maria Bualat, Terrence Fong, Christopher Provencher, Hugo Sanchez, Ernest Smith, and The Astrobee Team.
Astrobee: A New Platform for Free-Flying Robotics Research on the International Space Station.
Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2016. PDF
Michael Watterson, Trey Smith, and Vijay Kumar.
Smooth Trajectory Generation on SE(3) for a Free Flying Space Robot.
Proc. IEEE Int. Conf. Rob. Sys. (IROS), 2016. Details

2015

Maria Bualat, Jonathan Barlow, Terrence Fong, Chris Provencher, and Trey Smith.
Astrobee: Developing a Free-Flying Robot for the International Space Station.
Proc. AIAA Space Forum, 2015. PDF
In-Won Park, Trey Smith, Sze Wun Wong, Pedro Piacenza, and Matei Ciocarlie.
Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station.
Proc. IEEE Int. Conf. Robotics Automation (ICRA), 2015.
(Late-breaking results abstract; superseded by AIM 2017 full paper.)
Jongwoon Yoo, In-Won Park, Vinh To, Jason QH Lum, and Trey Smith.
Avionics and perching systems of free-flying robots for the International Space Station.
IEEE Int. Symp. Systems Eng. (ISSE), 2015. Details