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Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments

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 Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments. In: AIAA SPACE and Astronautics Forum and Exposition. American Institute of Aeronautics and Astronautics , Art. No. 2017-5323 . ISBN 978-1-62410-483-1.

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This paper focuses on trajectory planning for spacecraft swarms in cluttered environments, like debris fields or the asteroid belt. Our objective is to reconfigure the spacecraft swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. In our prior work we proposed a novel distributed guidance algorithm for spacecraft swarms in static environments. In this paper, we present the Multi-Agent Moving-Obstacles Spherical Expansion and Sequential Convex Programming (MAMO SE-SCP) algorithm that extends our prior work to include spatiotemporal constraints such as time-varying, moving obstacles and desired time-varying terminal positions. In the MAMO SE-SCP algorithm, each agent uses a spherical-expansion-based sampling algorithm to cooperatively explore the time-varying environment, a distributed assignment algorithm to agree on the terminal position for each agent, and a sequential-convex-programming-based optimization step to compute the locally-optimal trajectories from the current location to the assigned time-varying terminal position while avoiding collision with other agent and the moving obstacles. Simulations results demonstrate that the proposed distributed algorithm can be used by a spacecraft swarm to achieve a time-varying, desired formation around an object of interest in a dynamic environment with many moving and tumbling obstacles.

Item Type:Book Section
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URLURL TypeDescription DOIArticle
Foust, Rebecca0000-0003-1470-1716
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2017 by the American Institute of Aeronautics and Astronautics, Inc. 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. © 2017 California Institute of Technology. Government sponsorship acknowledged.
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JPL Research and Technology Development ProgramUNSPECIFIED
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AIAA Paper2017-5323
Record Number:CaltechAUTHORS:20171214-123928298
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Official Citation:Saptarshi Bandyopadhyay, Francesca Baldini, Rebecca Foust, Amir Rahmani, Jean-Pierre de la Croix, Soon-Jo Chung, and Fred Hadaegh. "Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments", AIAA SPACE and Astronautics Forum and Exposition, AIAA SPACE Forum, (AIAA 2017-5323)
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:83924
Deposited By: Tony Diaz
Deposited On:14 Dec 2017 21:14
Last Modified:08 Jan 2020 15:43

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