This paper addresses the problem of coordinating multiple spacecraft to fly in tightly controlled formations. The main contribution of the paper is to introduce a coordination architecture that subsumes leader-following, behavioral, and virtual-structure approaches to the multiagent coordination problem. The architecture is illustrated through a detailed application of the ideas to the problem of synthesizing a multiple spacecraft interferometer in deep space.

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A coordination architecture for spacecraft formation control

In this paper, we propose a new quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a quadrotor aircraft. The proposed controller is based upon the compensation of the Coriolis and gyroscopic torques and the use of a PD/sup 2/ feedback structure, where the proportional action is in terms of the vector quaternion and the two derivative actions are in terms of the airframe angular velocity and the vector quaternion velocity. We also show that the model-independent PD controller, where the proportional action is in terms of the vector-quaternion and the derivative action is in terms of the airframe angular velocity, without compensation of the Coriolis and gyroscopic torques, provides asymptotic stability for our problem. The proposed controller as well as some other controllers have been tested experimentally on a small-scale quadrotor aircraft.

Attitude stabilization of a VTOL quadrotor aircraft

1. Introduction 2. Orbital dynamics 3. Orbital maneuvers 4. Attitude dynamics and kinematics 5. Gravity gradient stabilization 6. Single and dual spin stabilization 7. Attitude maneuvers in space 8. Momentum-biased attitude stabilization 9. Reaction jet attitude 10. Structural dynamics and liquid sloshing Appendix A. Attitude transformation in space Appendix B. Attitude determination hardware Appendix C. Orbit and attitude control hardware.

Spacecraft Dynamics and Control: A Practical Engineering Approach

Using known camera motion to estimate depth from image sequences is an important problem in robot vision. Many applications of depth-from-motion, including navigation and manipulation, require algorithms that can estimate depth in an on-line, incremental fashion. This requires a representation that records the uncertainty in depth estimates and a mechanism that integrates new measurements with existing depth estimates to reduce the uncertainty over time. Kalman filtering provides this mechanism. Previous applications of Kalman filtering to depth-from-motion have been limited to estimating depth at the location of a sparse set of features. In this paper, we introduce a new, pixel-based (iconic) algorithm that estimates depth and depth uncertainty at each pixel and incrementally refines these estimates over time. We describe the algorithm and contrast its formulation and performance to that of a feature-based Kalman filtering algorithm. We compare the performance of the two approaches by analyzing their theoretical convergence rates, by conducting quantitative experiments with images of a flat poster, and by conducting qualitative experiments with images of a realistic outdoor-scene model. The results show that the new method is an effective way to extract depth from lateral camera translations. This approach can be extended to incorporate general motion and to integrate other sources of information, such as stereo. The algorithms we have developed, which combine Kalman filtering with iconic descriptions of depth, therefore can serve as a useful and general framework for low-level dynamic vision.

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Kalman Filter-based Algorithms for Estimating Depth from Image Sequences

This chapter will discuss several kinds of sensors and actuators used to determine and control spacecraft attitude [26, 44, 54, 66]. The history of attitude sensor development has emphasized increased resolution and accuracy as well as decreased size, weight, and power (often abbreviated as SWaP). Actuator technologies have also been scaled down to be appropriate for microsatellites and cubesats. We begin with a brief introduction to redundancy considerations, and then consider some specific sensors and actuators.

Sensors and Actuators

List of Authors. preface. 1. The Space Mission Analysis and Design Process. 2. Mission Characterization. 3. Mission Evaluation. 4. Requirements Definition. 5. Space Mission Geometry. 6. Introduction to Astrodynamics. 7. Orbit and Constellation Design. 8. The Space Environment and Survivability. 9. Space Payload Design and Sizing. 10. Spacecraft Design and Sizing. 11. Spacecraft Subsystems. 12. Space Manufacture and Test. 13. Communications Architecture. 14. Mission Operations. 15. Ground System Design and Sizing. 16. Spacecraft Computer Systems. 17. Space Propulsion Systems. 18. Launch Systems. 19. Space Manufacturing and Reliability. 20. Cost Modeling. 21. Limits on Mission Design. 22. Design of Low-Cost Spacecraft. 23. Applying the Space Mission Analysis and Design. Appendices: A: Mass Distribution for Selected Satellites. B: Astronautical and Astrophysical Data. C: Elliptical Orbit Equations. D: Spherical Geometry Formulas. E: Universal Time and Julian Dates. F: Units and Conversion Factors. Index.

Space Mission Analysis and Design

This classic book is the first comprehensive presentation of data, theory, and practice in attitude analysis. It was written by 33 senior technical staff members in the Spacecraft Attitude Department of the Computer Sciences Corporation and incorporates their experience in supporting more than 30 space missions. Because of the extensive cross-references, complete index, and 13 technical appendices, this book can be either a self teaching text, or a reference handbook. Among its unique features are orthographic globe projections to eliminate confusion in vector drawings; discussions of common data anomalies, data validation, attitude hardware, and associated mathematical models; and a presentation of new geometrical procedures for mission analysis and attitude accuracy studies which can eliminate many complex simulations.

Spacecraft attitude determination and control

Space mission engineering : the new SMAD

List of Authors Preface 1 Spacecraft Orbit and Attitude Systems 2 Orbit Properties and Terminology 3 Attitude Properties and Terminology 4 Space-Based Orbit, Attitude, and Timing Systems 5 Definition of Requirements 6 Geometry on the Celestial Sphere 7 Spacecraft Position and Attitude Systems 8 Full-Sky Spherical Geometry 9 Earth Coverage 10 Satellite Relative Motion 11 Viewing and Lighting Conditions 12 Orbit Selection and Design 13 Constellation Design 14 Operations Considerations in Orbit Design Launch, Orbit Acquision, and Disponsal Appendices Index

James R. Wertz

Papers

Space Mission Analysis and Design

Spacecraft attitude determination and control

Spacecraft attitude determination and control

Space mission engineering : the new SMAD

Mission Geometry; Orbit and Constellation Design and Management: Spacecraft Orbit and Attitude Systems