An Architecture for Autonomous Control of a Robotic Satellite Grappling Mission

Abstract

The Front-End Robotics Enabling Near-Term Demonstration (FREND) program requires the autonomous grapple of a simulated geostationary satellite. To achieve the required autonomy, while maintaining repeatable, deterministic performance and the capability for ground control of the system, the Naval Research Laboratory has developed a finite state machine-based Mission Sequencer. The Mission Sequencer offers increased system self-awareness and coordinated fault response without the development of extensive databases requiring expert knowledge. Simple in conception and implementation, the Mission Sequencer has nonetheless been a critical component in achieving reliable system autonomy.