Problem
Research questions and friction points this paper is trying to address.
Space Robot Teleoperation
Communication Delay
Lossy Network
Hardware-in-the-loop Evaluation
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
🤖 AI Summary
This study addresses the stability and docking challenges in space robot teleoperation under time-varying stochastic communication delays. Leveraging an ATMOS hardware-in-the-loop platform, we propose a transcontinental teleoperation framework integrating state prediction with trajectory tracking control. Notably, this work presents the first microgravity-simulated docking experiment conducted over a real-world network link between Seoul and Stockholm. Experimental results demonstrate that the system achieves rapid and reliable docking despite authentic transcontinental latency. These findings effectively validate the feasibility of a low-cost, high-fidelity testing methodology and provide critical empirical evidence supporting long-delay teleoperation for space robotic systems.
📝 Abstract
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation of guidance and control strategies in microgravity-like conditions. Using ATMOS as the physical test platform, we investigate the design, analysis, and performance evaluation of control architectures for remotely operated spacecraft under round-trip communication delays. In this work, we develop and experimentally validate a control strategy that combines state prediction and trajectory tracking control to perform a docking maneuver, accounting for time-varying random communication latency between ground operators and the ATMOS system. The demonstration includes a long-distance remote control experiment between Seoul and Stockholm, introducing realistic intercontinental delays and variability. The results highlight the capability of ATMOS to support rapid, reliable, and cost-effective testing of spacecraft teleoperation concepts, establishing a first step toward robust validation of on-orbit operations in microgravity-like environments.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Space Robot Teleoperation
Time-varying Communication Delay
State Prediction
Hardware-in-the-loop
ATMOS
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