Space robotics: towards an architecture for autonomous mobile manipulation
Frank Kirchner, José de Gea Fernández, Sylvain Joyeux, Jakob Schwendner
Editors: Massimiliano Vasile, Victor M. Becerra
In Computational Intelligence in the Aerospace Sciences, American Institute of Aeronautics and Astronautics (AIAA), chapter 9, pages 295-323, 2014. ISBN: 978-1-62410-260-8.
In the next decades the exploration of space will have to rely on robotic systems. These systems must provide a functionality that enables them to serve as our eyes, ears and hands in those extreme and remote environments. This specification not just faces us with a tough design challenge designing the systems so that they can survive the environment but also requires us to provide a working solution for an even bigger task: the incorporation of long term autonomy in these systems. This chapter will explore the interfaces between design and control of autonomous space robots and focus on the combination of mobility and manipulation for such systems.