Autonomous Capture of a Tumbling Satellite

Guy Rouleau, Ioannis Rekleitis, R\'{e}gent L'Archev\^{e}que, Eric Martin, Kourosh Parsa, Erick Dupuis
In IEEE International Conference on Robotics and Automation (ICRA) 2006. [120 citations]


Abstract: In this paper, we describe a framework for the autonomous capture and servicing of satellites. The work is based on laboratory experiments that illustrate the autonomy and remote-operation aspects. 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.



  author       = {Guy Rouleau and Ioannis Rekleitis and R\'{e}gent
		 L'Archev\^{e}que and Eric Martin and Kourosh Parsa and
		 Erick Dupuis},
  title        = {Autonomous Capture of a Tumbling Satellite},
  booktitle    = {IEEE International Conference on Robotics and Automation
  pages        = {3855 - 3860},
  year	       = {2006},
  address      = {Orlando, FL, USA},
  month        = {May}

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