Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control

2026-09-21

AI Summary

研究提出一种在微重力环境下通过单向推动合作运输无动力目标的安全关键框架，使用基于CLF和CBF的反馈控制架构解决稀疏作用约束问题。

Abstract

We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts to track a human-provided desired twist while ensuring safe target motion. The pushing-only nature of the interaction introduces sparse, configuration-dependent actuation constraints requiring chasers to physically relocate on the target body when the desired pushing allocation changes. To address these challenges, we formulate a delay-aware feedback control architecture leveraging Control Lyapunov Function (CLF) and Control Barrier Function (CBF) constraints within a mixed-integer thrust allocation program to enforce stability and safety of the target, respectively. The proposed framework enables reference tracking while guaranteeing obstacle avoidance with a circular obstacle despite intermittent control authority, providing a foundation for human-supervised cooperative transportation of free-flyers in space environments. The proposed framework is validated through Gazebo simulations.

Problem

• Multi-Agent Transportation
• Microgravity
• Human-in-the-Loop Control
• Pushing Interaction
• Safety-Critical

Innovation

• Control Lyapunov Function (CLF)
• Control Barrier Function (CBF)
• Microgravity
• Human-in-the-Loop Control
• Free-Flyers Transportation