Algorithmic Foundations for Real-Time and Dependable Spacecraft Motion Planning

ESI (2015) "Assistive Free-Flyers with Gecko-Inspired Adhesive Appendages for Automated Logistics in Space" ($210K)

NSTRF (2015) "Onboard Risk-Aware Real-Time Motion Planning Algorithms for Spacecraft Maneuvering"($294K)

The goal of this NASA Early Career Faculty (ECF) grant was to devise real-time, efficient, and dependable algorithms for spacecraft autonomous maneuvering, with a focus on dynamic and cluttered environments (which may arise, e.g., due to debris or outgassing activity). Specifically, this project devised a technology for the online planning of trajectories in proximity operations, which, together with reliable environmental sensing and autonomous high-level decision-making, is a key enabler for autonomous spacecraft navigation. As a radical departure from traditional methods, we leveraged algorithmic advances in the field of robot motion planning for spacecraft control. This effort directly addressed the high-priority technology “Onboard Autonomous Navigation and Maneuvering Systems, ”within the NASA Space Technology Roadmaps and Priorities report, Technology Area 05 “Communications and Navigation Systems.” Also, this effort involved collaboration with the NASA Goddard Space Flight Center, the NASA's Ames Research Center, and the NASA Jet Propulsion Laboratory.