A Holistic Intra and Extra Vehicular Maneuver Strategy For Free-Flying Space Robots

Advancements in space exploration are increasingly dependent on autonomous systems for the maintenance and operation of space stations. This thesis explores the potential roles of free flying robots, leveraging distinct locomotion methodologies apt for various operational tasks. Utilizing the International Space Station as an analogue for future space stations, the thesis identifies tasks that these robots could perform to extend our capacity for manned space exploration. Drawing upon previous work and the projected state of the art in robotic locomotion, it proposes a coherent, task-based strategy for free flying robot operations using combined locomotion methods. The thesis also introduces the implementation of a tube-based model predictive controller for propulsive locomotion. After a series of ground tests, the controller is integrated into NASA's free flying robot, Astrobee. The controller is subsequently utilized in tests aboard the International Space Station to compare the performance of the tube-based model predictive control with a standard model predictive control for cargo retrieval tasks. The thesis concludes by assimilating insights from on-orbit experiments and an examination of locomotion methodologies, proposing a unified, systematic strategy for employing multiple robotic locomotion methods to enhance space station upkeep and operations.