Towards Open-Source and Modular Space Systems with ATMOS
🤖 AI Summary
To address challenges in validating autonomous spacecraft operations under microgravity—including low experimental repeatability, difficulty in ground-based verification, and discrepancies between simulation and physical testing—this paper introduces ATMOS, an open-source software–hardware laboratory for autonomous space systems. We propose the first reproducible and transferable Software-in-the-Loop (SITL) architecture, enabling seamless closed-loop integration between high-fidelity simulation environments and physical microgravity testbeds. Furthermore, we design a modular, open-source hardware and software stack supporting representative mission scenarios such as autonomous rendezvous, on-orbit assembly, and human–robot collaboration under multi-agent control. Experimental evaluation demonstrates that ATMOS significantly improves the transfer efficiency of autonomy algorithms from simulation to real-world platforms, reduces validation costs, and advances standardization and reproducibility in space autonomy research.
Application Category
📝 Abstract
In the near future, autonomous space systems will compose a large number of the spacecraft being deployed. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections or assembly of orbiting space stations and maintenance and human-assistance tasks over shared workspaces. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space systems laboratory based on open-source and modular software and hardware. The simulation software provides a software-in-the-loop (SITL) architecture that seamlessly transfers simulated results to the ATMOS platforms, developed for testing of multi-agent autonomy schemes for microgravity. The manuscript presents the KTH space systems laboratory facilities and the ATMOS platform as open-source hardware and software contributions. Preliminary results showcase SITL and real testing.
Problem
Research questions and friction points this paper is trying to address.
spacecraft autonomy
microgravity environment
open-source laboratory system
Innovation
Methods, ideas, or system contributions that make the work stand out.
ATMOS
spacecraft autonomy
microgravity testing
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