A ROS-based control framework for simulating locomotion of a multi-arm space assembly robot

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dc.contributor.authorDillikar, Sairaj R.
dc.contributor.authorLeslie, Cameron
dc.contributor.authorUpadhyay, Saurabh
dc.contributor.authorFelicetti, Leonard
dc.contributor.authorTang, Gilbert
dc.date.accessioned2025-02-17T13:59:04Z
dc.date.available2025-02-17T13:59:04Z
dc.date.freetoread2025-02-17
dc.date.issued2025
dc.date.pubOnline2024-12-30
dc.description.abstractThis paper proposes a ROS-based control framework for simulating the locomotion of a multi-arm space robot on a planar space structure. This framework has applications in technology demonstrations of space structure assembly, construction, and maintenance where a multi-arm robot has to traverse on a space structure building blocks known as Spatial Reticular Structures (SRS) to perform the space operation. The framework sets the desired environment and SRS structures in the first step and devises two movement primitives to achieve locomotion on the structure. A ROS-Gazebo-based simulation architecture is presented to execute the proposed control framework. The viability and limitations of the proposed control framework are discussed with simulation results.
dc.description.bookTitleLecture Notes in Computer Science
dc.description.conferencenameTowards Autonomous Robotic Systems 2024
dc.format.extentpp. 93-105
dc.identifier.citationDillikar SR, Leslie C, Upadhyay S, et al., (2025) A ROS-based control framework for simulating locomotion of a multi-arm space assembly robot. In: Towards Autonomous Robotic Systems, 25th Annual Conference, (TAROS 2024), 21-23 August 2024, London, UK, Part II. Lecture Notes in Computer Science, Volume 15052, pp. 93-105
dc.identifier.elementsID561687
dc.identifier.isbn9783031720611
dc.identifier.urihttps://doi.org/10.1007/978-3-031-72062-8_9
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23486
dc.identifier.volumeNo15052
dc.language.isoen
dc.publisherSpringer
dc.publisher.urihttps://link.springer.com/chapter/10.1007/978-3-031-72062-8_9
dc.relation.ispartofseriesLecture Notes in Computer Science
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subject46 Information and Computing Sciences
dc.subject4602 Artificial Intelligence
dc.subjectBioengineering
dc.subjectArtificial Intelligence & Image Processing
dc.subject46 Information and computing sciences
dc.titleA ROS-based control framework for simulating locomotion of a multi-arm space assembly robot
dc.typeConference paper
dcterms.coverageLondon, UK
dcterms.temporal.endDate23-Aug-2024
dcterms.temporal.startDate21-Aug-2024

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