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Autonomous Extra-vehicular Robotic Camera (AERCam) This project is no longer active. Head: Howie Choset Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated lab/group: Biorobotics

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Project Description

This work addresses path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the Space Station. The robot will provide remote views to astronauts inside the Space Shuttle and future Space Station, and to ground controllers. The first part of this work prescribes a planar robot prototype autonomously moving about an air bearing table. The second part of this paper describes the path planning method for the three-dimensional path planner and describes the software simulation of the path planner with the future space station.

Past members

	Name	Title	Email Address
	Howie Choset	Associate Professor	choset@cs.cmu.edu

Past Sub-projects

Sensor Based Coverage of Unknown Planar Environments - Sensor based coverage of unknown environments using exact cellular decompositions.

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Path planning and control for AERCam, a free-flying inspection robot in space
  H. Choset, R.A. Knepper, J. Flasher, S. Walker, A. Alford, D. Jackson, D. Kortenkamp, R. Burridge, and J. Fernandez
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 2, May, 1999, pp. 1396 - 1403. [Abstract]
  Download: pdf [364 KB], ps.gz [567 KB] copyrighted

• Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space
  H. Choset and D. Kortenkamp
  ASCE Journal of Aerospace Engineering, 1999. [Abstract]
  Download: pdf [372 KB], ps.gz [567 KB] copyrighted