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On-orbit close proximity operations involve robotic spacecraft maneuveringand making decisions for a growing number of mission scenarios demandingautonomy, including on-orbit assembly, repair, and astronaut assistance. Ofthese scenarios, on-orbit assembly is an enabling technology that will allowlarge space structures to be built in-situ, using smaller building blockmodules. However, robotic on-orbit assembly involves a number of technicalhurdles such as changing system models. For instance, grappled modules moved bya free-flying "assembler" robot can cause significant shifts in system inertialproperties, which has cascading impacts on motion planning and control portionsof the autonomy stack. Further, on-orbit assembly and other scenarios requirecollision-avoiding motion planning, particularly when operating in a"construction site" scenario of multiple assembler robots and structures. Thesecomplicating factors, relevant to many autonomous microgravity robotics usecases, are tackled in the ReSWARM flight experiments as a set of tests on theInternational Space Station using NASA's Astrobee robots. RElative SatellitesWarming and Robotic Maneuvering, or ReSWARM, demonstrates multiple keytechnologies for close proximity operations and on-orbit assembly: (1) globallong-horizon planning, accomplished using offline and online sampling-basedplanner options that consider the system dynamics; (2) on-orbit reconfigurationmodel learning, using the recently-proposed RATTLE information-aware planningframework; and (3) robust control tools to provide low-level control robustnessusing current system knowledge. These approaches are detailed individually andin an "on-orbit assembly scenario" of multi-waypoint tracking on-orbit.Additionally, detail is provided discussing the practicalities of hardwareimplementation and unique aspects of working with Astrobee in microgravity.

The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations