Autonomous Capture of a Tumbling Satellite


This work is based on laboratory experiments that illustrate the autonomy and remote-operation aspects of the capture of a tumbling satellite. The satellite-capture problem is representative of most on-orbit robotic manipulation tasks where the environment is known and structured, but it is dynamic since the satellite to be captured is in free flight. Bandwidth limitations and communication dropouts dominate the quality of the communication link. The satellite-servicing scenario is implemented on a robotic test-bed in laboratory settings. The communication aspects were validated in transatlantic tests.


Selected References

Complete List of Publications and bibtex entries.

Work done at CSA
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