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This paper presents a first contribution to the design of a small aerialrobot for inhabited microgravity environments, such as orbiting space stations.In particular, we target a fleet of robots for collaborative tasks with humans,such as telepresence and cooperative mobile manipulation. We explore apropeller based propulsion system, arranged in such a way that thetranslational and the rotational components can be decoupled, resulting in anholonomic hexarotor. Since propellers have limited thrust, we employ anoptimization approach to select the geometric configuration given a criteria ofuniform maximum thrust across all directions in the body reference frame. Wealso tackle the problem of motion control: due to the decoupling oftranslational and rotational modes we use separate converging controllers foreach one of these modes. In addition, we present preliminary simulation resultsin a realistic simulator, in closed loop with the proposed controller, thusproviding a first validation of the followed methodology.

Space CoBot: a collaborative aerial robot for indoor microgravity environments