Towards Open-Source and Modular Space Systems with ATMOS

Abstract--In the near future, autonomous space systems will compose a large number of the spacecraft being deployed. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections or assembly of orbiting space stations and maintenance and human-assistance tasks over shared workspaces. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space systems laboratory based on open-source and modular software and hardware. The simulation software provides a software-in-the-loop (SITL) architecture that seamlessly transfers simulated results to the ATMOS platforms, developed for testing of multi-agent autonomy schemes for microgravity. The manuscript presents the KTH space systems laboratory facilities and the ATMOS platform as open-source hardware and software contributions. To the left, we see the tethers of the low-pressure compressor system. Software and hardware contributions can be found in: 1. PX4Space: Athens [6] proposed a similar test bed, where the platforms https://atmos.discower.io The facility also provides a vision-based I. This The space sector has experienced significant growth [1] in facility was recently upgraded to more modern avionics, motion the last decade, in part due to the decreased costs of access to capture ground-truth positioning, and robotics communication space through multiple commercial operators [2], but also due software through the Robotics Operating System (ROS) [7]. to the maturation of existing technologies and, consequently, Stanford University's Autonomous Systems Laboratory freeflyer reduced pricing of the deployed equipment. In the last twenty testbed [8], [9], [10] uses a similar, round platform as to thirty years, a few academic and industrial research facilities a free-flying robotic system for path planning, docking and have been created to test space systems by replicating motion capturing of space systems, paired with an open-source Python in microgravity on Earth.