Autonomous On-Orbit Inspection, Servicing and Assembly

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A large space structure, such as a lunar gateway, needs the ability to have any part of it inspected and serviced. This is traditionally accomplished using a robotic arm, or by an astronaut exiting the spacecraft to perform the task. However, such tasks may need to occur when an astronaut is not available, or the robotic manipulator may not be able to reach all areas. To address the need for self-inspection, this proposal will develop a method for a collection of small robotic spacecraft, which can be stowed in a part of the station and periodically deployed, to autonomously perform the inspection. This proposal will develop methods for the spacecraft to co-operatively perform a fly-around of a part or the entirety of the structure and to autonomously detect, identify and repair any problems. This work will involve inspection path planning for multiple robotic inspector spacecraft, as well as the navigation of such a collection about a large structure. Similar to the International Space Station, a lunar gateway (as well as other large space structures needed to support long-term exploration beyond the Moon) will be too large to launch in one piece and will require on-orbit assembly. While some assembly of the structure may take place in Earth orbit prior to transport to the lunar vicinity, some assembly will need to take place in the lunar vicinity, which is not readily accessible by a human crew. This work will develop a method for a collection of robotic spacecraft to autonomously plan and carry out the assembly of a large space structure. This work will involve co-operative path planning, navigation, and co-operative manipulation of large structural elements relative to a complex space structure.