Safe Multi-agent Satellite Servicing with Control Barrier Functions
Fuente:
arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866909493977153536 |
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| author | Parikh, Deep van Wijk, David Majji, Manoranjan |
| author_facet | Parikh, Deep van Wijk, David Majji, Manoranjan |
| contents | The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling space object from a mothership. Relative position and orientation of each agent is obtained via fusion of relative range and inertial measurement sensors. The control barrier functions are utilized to avoid collisions with other agents for the application of simultaneously relocating servicing agents on a tumbling body. A differential collision detection and avoidance framework using the polytopic hull of the tumbling space object is utilized to safely guide the agents away from the tumbling object. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_10480 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Safe Multi-agent Satellite Servicing with Control Barrier Functions Parikh, Deep van Wijk, David Majji, Manoranjan Systems and Control Robotics The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling space object from a mothership. Relative position and orientation of each agent is obtained via fusion of relative range and inertial measurement sensors. The control barrier functions are utilized to avoid collisions with other agents for the application of simultaneously relocating servicing agents on a tumbling body. A differential collision detection and avoidance framework using the polytopic hull of the tumbling space object is utilized to safely guide the agents away from the tumbling object. |
| title | Safe Multi-agent Satellite Servicing with Control Barrier Functions |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2502.10480 |