NDLI: Path planning and control for AERCam, a free-flying inspection robot in space

Content Provider	IEEE Xplore Digital Library
Author	Choset, H. Knepper, R. Flasher, J. Walker, S. Alford, A. Jackson, D. Kortenkamp, D. Burridge, R. Fernandez, J.
Copyright Year	1999
Description	Author affiliation: Carnegie Mellon Univ., Pittsburgh, PA, USA (Choset, H.)
Abstract	This paper describes a prototype robot and the necessary path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the Space Station. The robot will provide remote views to astronauts inside the Space Shuttle and future Space Station, and to ground controllers. The paper describes a planar robot prototype autonomously moving about an air bearing table, and introduces a method for determining paths in three-dimensions for efficient fuel use. Finally, the paper describes the software simulation of the path planner with the future Space Station.
Starting Page	1396
Ending Page	1403
File Size	931795
Page Count	8
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.772556
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Inspection Orbital robotics Space stations Prototypes Space shuttles Robot vision systems Cameras Software prototyping Fuels
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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