Autonomous In-Orbit Satellite Assembly from a Modular Heterogeneous Swarm using Sequential Convex Programming

This paper presents a decentralized guidance and control scheme to combine a heterogeneous swarm of component satellites into a large satellite structure. Building on prior work, the Swarm Orbital Construction Algorithm was made more realistic and correct by changing the docking and collision avoidance criteria and implementing a nonlinear correction in the convex optimization solver. The algorithm was then extended to function in a simulated perturbed 6-DOF spacecraft environment. This required the addition of an attitude barrier function to the target assignment algorithm as discussed in the previous paper, as well as the selection of a realistic range for actuator performance and spacecraft shape parameters. Simulation results are presented using a swarm of CubeSat-class satellites.