SmallSatSim: A High-Fidelity Simulation and Training Toolkit for Microgravity Robotic Close Proximity Operations

Microgravity rendezvous and close proximity operations (RPO) is a growing area of interest for applications spanning in-space assembly and manufacturing (ISAM), orbital debris remediation, and small body exploration. Microgravity environments present unique challenges for robotic control and planning algorithms for new agile RPO mission scenarios like free-floating manipulation, planning under failure, and estimating high-fidelity dynamics of tumbling bodies. To facilitate the development and testing of novel RPO algorithms, we introduce SmallSatSim, a high-fidelity simulation toolkit that leverages the MuJoCo physics engine to accurately model small satellite RPO dynamics in local microgravity robotic free-flight settings, including under model disturbances and perturbations. The framework includes cutting edge out-of-the-box free-flyer control techniques. A GPU-accelerated pipeline using MuJoCo MJX and JAX is implemented for sampling- and learning-based simulation uses cases. SmallSatSim also supports configurable failure models, enabling the evaluation of safe control strategies under adversarial conditions. Visualization, logging, and GPU-enabled parallelization further enhance SmallSatSim's capability for RPO testing. We outline SmallSatSim's features and intended use cases, and demonstrate its use for robotic RPO planning and control. The open-sourced toolkit aims to accelerate research in autonomous, agile robotic small satellite operations.

Architecting Autonomy for Safe Microgravity Free-Flyer Inspection

Small free-flying spacecraft can provide vital extravehicular activity (EVA) services like inspection and repair for future orbital outposts like the Lunar Gateway. Operating adjacent to delicate space station and microgravity targets, these spacecraft require formalization to describe the autonomy that a free-flyer inspection mission must provide. This work explores the transformation of general mission requirements for this class of free-flyer into a set of concrete decisions for the planning and control autonomy architectures that will power such missions. Flowing down from operator commands for inspection of important regions and mission time-criticality, a motion planning problem emerges that provides the basis for developing autonomy solutions. Unique constraints are considered such as velocity limitations, pointing, and keep-in/keep-out zones, with mission fallback techniques for providing hierarchical safety guarantees under model uncertainties and failure. Planning considerations such as cost function design and path vs. trajectory control are discussed. The typical inputs and outputs of the planning and control autonomy stack of such a mission are also provided. Notional system requirements such as solve times and propellant use are documented to inform planning and control design. The entire proposed autonomy framework for free-flyer inspection is realized in the SmallSatSim simulation environment, providing a reference example of free-flyer inspection autonomy. The proposed autonomy architecture serves as a blueprint for future implementations of small satellite autonomous inspection in proximity to mission-critical hardware, going beyond the existing literature in terms of both (1) providing realistic system requirements for an autonomous inspection mission and (2) translating these requirements into autonomy design decisions for inspection planning and control.