Real-time maneuver optimization of space-based robots in a dynamic environment: Theory and on-orbit experiments Academic Article uri icon


  • 2017 IAA This paper presents the development of a real-time path-planning optimization approach to controlling the motion of space-based robots. The algorithm is capable of planning three dimensional trajectories for a robot to navigate within complex surroundings that include numerous static and dynamic obstacles, path constraints and performance limitations. The methodology employs a unique transformation that enables rapid generation of feasible solutions for complex geometries, making it suitable for application to real-time operations and dynamic environments. This strategy was implemented on the Synchronized Position Hold Engage Reorient Experimental Satellite (SPHERES) test-bed on the International Space Station (ISS), and experimental testing was conducted onboard the ISS during Expedition 17 by the first author. Lessons learned from the on-orbit tests were used to further refine the algorithm for future implementations.

published proceedings


altmetric score

  • 29

author list (cited authors)

  • Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S., Morrell, B. J., & Gibbens, P. W.

citation count

  • 9

complete list of authors

  • Chamitoff, Gregory E||Saenz-Otero, Alvar||Katz, Jacob G||Ulrich, Steve||Morrell, Benjamin J||Gibbens, Peter W

publication date

  • January 2018