水中環境を用いた宇宙ロボティクスの外乱ロバスト性等価性による検証
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
水中環境で宇宙ロボットの動作を検証する枠組みを提案し、外乱ロバスト性を等価にすることで宇宙環境での性能を実証する。
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著者: Joris Verhagen, Elias Krantz, Chelsea Sidrane, David Dörner, Nicola De Carli, Pedro Roque, Huina Mao, Gunnar Tibert, Ivan Stenius, Christer Fuglesang, Dimos Dimarogonas, Jana Tumova
分類: cs.RO
原文アブストラクト
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space robotics validation, there are still dynamical and environmental differences that need to be overcome. Given a high-level space mission specification, expressed in terms of a Signal Temporal Logic specification, we overcome these differences via the notion of maximal disturbance robustness of the mission. We formulate the motion planning problem such that the original space mission and the validation mission achieve the same disturbance robustness degree. The validation platform then executes its mission plan using a near-identical control strategy to the space mission where the closed-loop controller considers the spacecraft dynamics. Evaluating our validation framework relies on estimating disturbances during execution and comparing them to the disturbance robustness degree, providing practical evidence of operation in the space environment. Our evaluation features a dual-experiment setup: an underwater robot operating under near-neutral buoyancy conditions to validate the planning and control strategy of either an experimental planar spacecraft platform or a CubeSat in a high-fidelity space dynamics simulator.
