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Distributed multi-target relative pose estimation for cooperative spacecraft swarm

Matsuka, Kai and Lupu, Elena Sorina and Nakka, Yashwanth Kumar and Foust, Rebecca and Chung, Soon-Jo and Hadægh, Fred (2019) Distributed multi-target relative pose estimation for cooperative spacecraft swarm. In: 10th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), 16-19 July 2019, Glasgow, UK. (In Press)

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Multi-agent relative state estimation is critical in enabling full swarm autonomy. However, relative pose estimation of hundreds to thousands of cooperative agents is challenging due to limited sensing, limited communication, and scalability. We present a distributed algorithm for cooperative multi-agent localization with both limited relative sensing and communication. Each agent locally exchanges the relative measurements and jointly estimates the relative poses of its local neighbors. Because the algorithm only estimates the local neighbors, the number of states does not grow with the total number of agents given the same local sensing and communication graphs, making the algorithm suitable for swarm application. The proposed algorithm is applied to spacecraft swarm localization and verified in simulation and experiments. Experiments are conducted on Caltech’s robotic spacecraft simulators, the Multi-Spacecraft Testbed for Autonomy Research (M-STAR), where each spacecraft uses vision-based relative measurements.

Item Type:Conference or Workshop Item (Paper)
Matsuka, Kai0000-0003-2116-9756
Lupu, Elena Sorina0000-0002-3968-2630
Nakka, Yashwanth Kumar0000-0001-7897-3644
Foust, Rebecca0000-0003-1470-1716
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:This research was supported in part by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. The work of Kai Matsuka was supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE 1745301. The work of Rebecca Foust was supported by a NASA Space Technology Research Fellowship (Grant No. NNX15AP48H). Also, we would like to thank Aaron Feldman and Jennifer Sun for their support on the robotic experiments.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
NASA Space Technology Research FellowshipNNX15AP48H
Record Number:CaltechAUTHORS:20190722-095828499
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:97314
Deposited By: George Porter
Deposited On:22 Jul 2019 17:10
Last Modified:12 Jun 2020 16:41

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