Resilient Space Robotics: Towards the Autonomy of Space Missions

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An inseparable component of international space exploration and exploitation programs is space robotics, ranging from space manipulators to planetary rovers, and typically being constrained, mobile and flexible. Such multidisciplinary systems ought to reliably perform operations in hostile outer space environments to accomplish space missions, including on-orbit servicing, extraplanetary exploration and deep-space exploration. Autonomy is particularly essential for future space robotic systems, since they must collaboratively operate millions of miles away from the Earth, in partially understood environments, while dealing with disturbances, communication delays, and fast, complex and frequent missions, all of which render teleoperation impractical. In addition to advanced technologies, intelligent Guidance, Navigation and Control (GN&C) methodologies, capable of capturing unique characteristics of space robotic systems, should thus be in place to enable their long-term and reliable autonomous performance. Mobility, nonholonomicity and symmetry are only a few key characteristics of space robotic systems rigorously captured by current geometry-based frameworks to offer effective control structures. In this NSERC proposal the PI will build upon his discoveries in geometric dynamics and control of underactuated, constrained multibody systems and experience with cutting-edge space technologies to extend the existing differential geometric frameworks and systematically address the remaining challenges associated with the autonomy of space systems. The research will involve identifying and modelling realistic off-nominal conditions, including disturbance, uncertainty and flexibility, and developing novel geometric GN&C methodologies that remediate their adverse effects to facilitate robust autonomy of space missions. Space robotics is an essential element of the on-orbit servicing program for maintaining existing satellite systems and guaranteeing their uninterrupted services ranging from Earth observations and weather forecasting to telecommunication, global navigation system and military surveillance. The enabling GN&C technologies provided in this research will immensely help create an effective on-orbit servicing program to sustain satellite services that are vital to the safety, security and day-to-day lives of Canadians. The research program also offers practical autonomy solutions for space exploration missions that are crucial for the next generation of Canadian citizens and scientists. The Highly Qualified Personnel (HQP) who are mentored in the current research program will be exposed to real-world problems in the Canadian space sector and provided with skills in problem solving and critical thinking. Indeed, such mentorship will increase the employability of the HQP and train the next generation of knowledgeable space engineers that will greatly impact the Canadian economy by contributing to both space and education industry.