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Distributed Fast Motion Planning for Spacecraft Swarms in Cluttered Environments Using Spherical Expansions and Sequence of Convex Optimization Problems

Bandyopadhyay, Saptarshi and Baldini, Francesca and Foust, Rebecca and Chung, Soon-Jo and Rahmani, Amir and de la Croix, Jean-Pierre and Hadaegh, Fred Y. (2017) Distributed Fast Motion Planning for Spacecraft Swarms in Cluttered Environments Using Spherical Expansions and Sequence of Convex Optimization Problems. In: Proceedings 9th International Workshop on Satellite Constellations and Formation Flying. , Art. No. 17-42.

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This paper presents a novel guidance algorithm for spacecraft swarms in an environment cluttered with many obstacles like a debris field or the asteroid belt. The objective of this algorithm is to reconfigure the swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. The agents first use a spherical-expansion-based sampling algorithm to cooperatively explore the workspace and find paths to the desired terminal positions. Using a distributed assignment algorithm, the agents converge on an optimal assignment of the target locations in the desired formation. Then each agent generates a locally optimal trajectory from its current location to its terminal position by solving a sequence of convex optimization problems. As the agent moves along this trajectory, it receives the position of other agents and updates its trajectory to avoid collisions with other agents and the obstacles. Thus the swarm achieves the desired formation in a distributed manner while avoiding collisions. Moreover, this algorithm is computationally efficient, therefore it can be implemented onboard resource-constrained spacecraft. Simulations results show that the proposed distributed algorithm can be used by a spacecraft swarm to reconfigure a desired formation around an asteroid in a collision-free manner.

Item Type:Book Section
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Foust, Rebecca0000-0003-1470-1716
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:©2017 California Institute of Technology. Government sponsorship acknowledged. This work was supported by the Jet Propulsion Laboratory’s Research and Technology Development (R&TD) program. Part of the research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.
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JPL Research and Technology Development FundUNSPECIFIED
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Record Number:CaltechAUTHORS:20170630-095327924
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:78721
Deposited By: Tony Diaz
Deposited On:30 Jun 2017 17:03
Last Modified:08 Jan 2020 15:44

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