arXiv Open Access 2025

Deformable Cargo Transport in Microgravity with Astrobee

Daniel Morton Rika Antonova Brian Coltin Marco Pavone Jeannette Bohg

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Abstrak

We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee

Topik & Kata Kunci

cs.RO

Penulis (5)

Daniel Morton

Rika Antonova

Brian Coltin

Marco Pavone

Jeannette Bohg

Format Sitasi

APA MLA BibTeX

Morton, D., Antonova, R., Coltin, B., Pavone, M., Bohg, J. (2025). Deformable Cargo Transport in Microgravity with Astrobee. https://arxiv.org/abs/2505.01630

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Informasi Jurnal

Tahun Terbit: 2025
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓