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Demonstration of the Dyna Reinforcement Learning Framework for Reactive Close Proximity Operations

Demonstration of the Dyna Reinforcement Learning Framework f...

引用

AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Majumdar, Ritwik Albee, Keenan Sternberg, David C. Jia-Richards, Oliver Department of Aerospace Engineering University of Michigan Ann ArborMI United States Payload/Instrument Pointing Control Systems Engineering Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Maritime and Multi-Agent Autonomy Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Lessons from the International Space Station (ISS) emphasize the necessity of exterior inspection for anomaly detection and maintenance, but current methods rely on costly and limited human extravehicular activities and robotic arms. Deployable free-flying small spacecraft offer a flexible, autonomous solution, capable of comprehensive exterior inspections without human involvement. However, the safety of these spacecraft during close proximity operations remains a concern, particularly given uncertain variability in thruster performance. This paper presents SmallSat Steward, a reactive and integrated architecture for online model learning and trajectory planning based on the Dyna reinforcement learning architecture. By combining model-based planning and direct reinforcement learning, Dyna offers a potentially flexible and computationally-efficient solution capable of adapting to changes in thruster performance and other system uncertainties. Preliminary results in both simulation and hardware environments demonstrate the potential of this architecture to successfully regulate position under single and double thruster failures. In simulation, the Dyna-based controller outperformed an PD-LQR controller in ∼70% of all cases. On hardware, Dyna was able to eliminate the steady state error caused by thruster failures. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Space stations

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Current Status and Analyses of the SPLICE Hazard Detection Software

Current Status and Analyses of the SPLICE Hazard Detection S...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Liu, John Y. Chen, Po-Ting Aldrich, Jack D. Bocchino, Robert L. Vaughan, Geoffrey Jet Propulsion Laboratory California Institute of Technology Payload/Instrument Pointing Control Systems Engineering Guidance and Control Section 4800 Oak Grove Drive PasadenaCA91109 United States Jet Propulsion Laboratory California Institute of Technology Guidance and Control Section 4800 Oak Grove Drive PasadenaCA91109 United States Jet Propulsion Laboratory California Institute of Technology Flight Software and Avionics Systems Section 4800 Oak Grove Drive PasadenaCA91109 United States

This paper provides a status report of the current development and analysis efforts for the hazard detection (HD) software for the Safe and Precise Landing-Integrated Capabilities Evolution (SPLICE) project. © 20... 详细信息

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

关键词： Hazards

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Ground Testing of Spacecraft Attitude Dynamics during In-Space Assembly and Manufacturing

Ground Testing of Spacecraft Attitude Dynamics during In-Spa...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Bhundiya, Harsh G. Cordero, Zachary C. Marshall, Michael A. Sternberg, David Lo, Kevin Mohan, Swati Department of Aeronautics and Astronautics Massachusetts Institute of Technology CambridgeMA United States Guidance and Control Analyst Space Exploration Sector The Johns Hopkins University Applied Physics Laboratory LaurelMD United States Payload/Instrument Pointing Control Systems Engineering Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States GNC Hardware and Testbed Development Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The on-orbit construction of structures, i.e., in-space assembly and manufacturing (ISAM), is a promising approach for increasing mission flexibility and achieving structures optimized for the space environment. Although many construction processes have been proposed, a critical aspect that needs further investigation is the spacecraft attitude dynamics during ISAM given the large changes in mass properties of the spacecraft and the long timescales of fabrication. This work investigates the ground testing of spacecraft attitude dynamics during Bend-Forming, a candidate process for the on-orbit construction of truss structures via plastic deformation of metallic feedstock. Specifically, we conduct experiments on a planar air bearing platform and develop rigid body dynamics models to understand the platform motion during Bend-Forming. The experimental results reveal 1) the effect of metal spring back on the attitude dynamics, and 2) the possibility of control-structure interaction during fabrication with closed-loop, thruster-based position and attitude control. Overall, this study highlights how artifacts of the manufacturing process like spring back affect attitude dynamics and results in important guidelines for the ground testing of spacecraft attitude dynamics during ISAM. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Trusses

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Robust Replanning for Multi-Agent SmallSat Inspection in Failure Scenarios

Robust Replanning for Multi-Agent SmallSat Inspection in Fai...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Iversflaten, Markus H. Hansson, Alexander Sternberg, David C. Jia-Richards, Oliver Albee, Keenan Department of Engineering Cybernetics Norwegian University of Science and Technology 7034 Trondheim Trondheim7034 Norway ETH Zürich Rämistrasse 101 Zürich8092 Switzerland Payload/Instrument Pointing Control Systems Engineering Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Department of Aerospace Engineering University of Michigan Ann ArborMI United States Maritime and Multi-Agent Autonomy Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Future space structures like the proposed Lunar Gateway may benefit from autonomous inspection and maintenance, especially during extended uncrewed periods. Small satellites (SmallSats) offer a low-cost alternative to human extravehicular activities (EVAs) for performing these tasks. However, SmallSats have a high failure rate, particularly with propulsion systems, often causing mission failures. This work is motivated by this failure rate and considers a multi-agent approach to SmallSat inspection as a way of increasing mission success through redundancy. The added risk of the multi-agent approach, namely collision risk during thruster or other system failures, is addressed. We propose a collision-aware path-planning strategy based on the Anytime Dynamic A* (AD*) algorithm, enabling efficient initial path generation and dynamic replanning in response to failures. Implementation considerations like collisionchecking in a high-fidelity simulation environment are discussed. The proposed strategy is demonstrated in a case study multi-agent inspection scenario around simulated Lunar Gateway geometry, where one SmallSat experiences a thruster failure, prompting other agents to replan their paths. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Small Satellites Extravehicular Activity Motion Planning Propulsion System Space Structures Space Infrastructure control Moment Gyroscope International Space Station Astronaut Clohessy Wiltshire Equation

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EFFICIENT STARSHADE RETARGETING ARCHITECTURE USING CHEMICAL PROPULSION

EFFICIENT STARSHADE RETARGETING ARCHITECTURE USING CHEMICAL ...

引用

AAS/AIAA Astrodynamics Specialist Conference, 2020

作者： Flinois, Thibault L. B. Seubert, Carl R. Scharf, Daniel P. Lisman, P. Douglas Payload/Instrument Pointing Control Analysis Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. PasadenaCA91109 United States Spacecraft Guidance & Control Analysis Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. PasadenaCA91109 United States Instrument System Engineering Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. PasadenaCA91109 United States

ISBN: (纸本)9780877036753

NASA is studying a possible starshade flying in formation with the Nancy Grace Roman Space Telescope (Roman). The starshade would perform weeks-long translational retargeting maneuvers between target stars. A retargeting architecture is introduced that is based on chemical propulsion and does not require ground tracking or interactions with the telescope during the retargeting cruise. Feasibility is demonstrated through a verified covariance analysis of the starshade-telescope relative position over several weeks using realistic sensor and actuator assumptions. Performance is sufficient for Roman to reacquire the starshade after retargeting and the architecture is shown to also be applicable to other mission concepts such as the Habitable Exoplanet Observatory (HabEx). © 2021, Univelt Inc. All rights reserved.

关键词： Architecture

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Demonstration of stereo vision for Deorbit descent and landing 42nd

Demonstration of stereo vision for Deorbit descent and landi...

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42nd AAS Rocky Mountain Section Guidance and control Conference, 2019

作者： Sternberg, David C. Setterfield, Timothy P. Bailey, Erik S. Ansar, Adnan I. Johnson, Andrew E. Payload/Instrument Pointing Control Systems Engineering Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States GN&C Hardware and Testbed Development Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States EDL Guidance and Control Systems Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Aerial and Orbital Image Analysis Group Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States

ISBN: (纸本)9780877036616

Planetary landers need to reduce velocity at low altitude for soft landing. Traditionally, estimating velocity and altitude has been performed with radar sensors whose performance meets the specific mission needs. There are not very many options for these sensors and they are difficult to include in a flight system either due to obsolescence, prohibitive cost or difficulty in accommodation. Recently, alternative sensing modalities are being pursued including Doppler LiDAR and vision. This paper describes results from a recent helicopter field test of a binocular stereo vision system for deorbit descent and landing applications. The system consisted of two 18.6˚ field of view cameras mounted 1.7m apart. Post processing of the images showed ranging accuracy better than 1% up to 500m and 17 cm/s velocimetry accuracy at 37m. For a flight system these images could be input into an FPGA-based processor which processes dense stereo and visual odometry in less than 1 second to achieve the stereo ranging frame rates required for soft landing. When coupled with vision based Terrain Relative Navigation this stereo system enables landing accuracies on the order of 10m. © 2019. California Institute of Technology.

关键词： Optical radar

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