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Astrobee Robot Software: A Modern Software System for SpaceAstrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This paper presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot. The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). The software runs on three interconnected smart phone class processors. We present the software approach, infrastructure required, and main software components. The Astrobee Robot Software embrace modern software practices while respecting flight constraints. The paper concludes with the lessons learned, including examples usage of the software. Several research teams are already using the Astrobee Robot Software to develop novel projects that will fly on Astrobee.
Document ID
20180003515
Document Type
Conference Paper
Authors
Fluckiger, Lorenzo
(SGT, Inc. Moffett Field, CA, United States)
Browne, Kathryn
(SGT, Inc. Moffett Field, CA, United States)
Coltin, Brian
(SGT, Inc. Moffett Field, CA, United States)
Fusco, Jesse
(NASA Ames Research Center Moffett Field, CA, United States)
Morse, Theodore
(SGT, Inc. Moffett Field, CA, United States)
Symington, Andrew
(SGT, Inc. Moffett Field, CA, United States)
Date Acquired
June 13, 2018
Publication Date
June 4, 2018
Subject Category
Computer Programming And Software
Report/Patent Number
ARC-E-DAA-TN55483
Meeting Information
Meeting: iSAIRAS (International Symposium on Artificial Intelligence, Robotics and Automation in Space)
Location: Madrid
Country: Spain
Start Date: June 4, 2018
End Date: June 6, 2018
Sponsors: European Space Agency
Funding Number(s)
CONTRACT_GRANT: NNA14AA60C
Distribution Limits
Public
Copyright
Public Use Permitted.
Keywords
Astrobee
ROS
Software
ISS
Robot
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