Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2021）
Key words
on-orbit cargo movement,system dynamics,fuel-consuming pure system identification maneuvers,online information-aware motion planning,real-time replanning capability,improved system models,low-level model predictive controller,online parameter estimator,informed control,control feature,Astrobee free-flyer,model parametric learning,inertial parameter learning,robotic free-flyers,Space free-flyers,Astrobee robots,International Space Station,parametric uncertainties,safety-critical space systems,explicitly weight parametric model-learning,on-the-fly replanning,system uncertainties,RATTLE
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