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The recent increase in yearly spacecraft launches and the high number ofplanned launches have raised questions about maintaining accessibility to spacefor all interested parties. A key to sustaining the future of space-flight isthe ability to service malfunctioning - and actively remove dysfunctionalspacecraft from orbit. Robotic platforms that autonomously perform these tasksare a topic of ongoing research and thus must undergo thorough testing beforelaunch. For representative system-level testing, the European Space Agency(ESA) uses, among other things, the Orbital Robotics and GNC Lab (ORGL), aflat-floor facility where air-bearing based platforms exhibit free-floatingbehavior in three Degrees of Freedom (DoF). This work introduces arepresentative simulation of a free-floating platform in the testingenvironment and a software framework for controller development. Finally, thiswork proposes a controller within that framework for finding and followingoptimal trajectories between arbitrary states, which is evaluated in simulationand reality.

Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform