Deformable Cargo Transport in Microgravity with Astrobee Article Swipe
Daniel Morton
,
Rika Antonova
,
Brian Coltin
,
Marco Pavone
,
Jeannette Bohg
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2505.01630
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2505.01630
We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee
Related Topics
Concepts
No concepts available.
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2505.01630
- https://arxiv.org/pdf/2505.01630
- OA Status
- green
- OpenAlex ID
- https://openalex.org/W4415026615
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4415026615Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2505.01630Digital Object Identifier
- Title
-
Deformable Cargo Transport in Microgravity with AstrobeeWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-05-02Full publication date if available
- Authors
-
Daniel Morton, Rika Antonova, Brian Coltin, Marco Pavone, Jeannette BohgList of authors in order
- Landing page
-
https://arxiv.org/abs/2505.01630Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2505.01630Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2505.01630Direct OA link when available
- Cited by
-
0Total citation count in OpenAlex
Full payload
| id | https://openalex.org/W4415026615 |
|---|---|
| doi | https://doi.org/10.48550/arxiv.2505.01630 |
| ids.doi | https://doi.org/10.48550/arxiv.2505.01630 |
| ids.openalex | https://openalex.org/W4415026615 |
| fwci | 0.0 |
| type | preprint |
| title | Deformable Cargo Transport in Microgravity with Astrobee |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T10406 |
| topics[0].field.id | https://openalex.org/fields/31 |
| topics[0].field.display_name | Physics and Astronomy |
| topics[0].score | 0.9940999746322632 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/3103 |
| topics[0].subfield.display_name | Astronomy and Astrophysics |
| topics[0].display_name | Planetary Science and Exploration |
| topics[1].id | https://openalex.org/T10325 |
| topics[1].field.id | https://openalex.org/fields/31 |
| topics[1].field.display_name | Physics and Astronomy |
| topics[1].score | 0.9797999858856201 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/3103 |
| topics[1].subfield.display_name | Astronomy and Astrophysics |
| topics[1].display_name | Astro and Planetary Science |
| topics[2].id | https://openalex.org/T11701 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9782000184059143 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2202 |
| topics[2].subfield.display_name | Aerospace Engineering |
| topics[2].display_name | Space Satellite Systems and Control |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| language | en |
| locations[0].id | pmh:oai:arXiv.org:2505.01630 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4306400194 |
| locations[0].source.issn | |
| locations[0].source.type | repository |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | arXiv (Cornell University) |
| locations[0].source.host_organization | https://openalex.org/I205783295 |
| locations[0].source.host_organization_name | Cornell University |
| locations[0].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[0].license | |
| locations[0].pdf_url | https://arxiv.org/pdf/2505.01630 |
| locations[0].version | submittedVersion |
| locations[0].raw_type | text |
| locations[0].license_id | |
| locations[0].is_accepted | False |
| locations[0].is_published | False |
| locations[0].raw_source_name | |
| locations[0].landing_page_url | http://arxiv.org/abs/2505.01630 |
| locations[1].id | doi:10.48550/arxiv.2505.01630 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | cc-by |
| locations[1].pdf_url | |
| locations[1].version | |
| locations[1].raw_type | article |
| locations[1].license_id | https://openalex.org/licenses/cc-by |
| locations[1].is_accepted | False |
| locations[1].is_published | |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | https://doi.org/10.48550/arxiv.2505.01630 |
| indexed_in | arxiv, datacite |
| authorships[0].author.id | https://openalex.org/A5050063999 |
| authorships[0].author.orcid | |
| authorships[0].author.display_name | Daniel Morton |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Morton, Daniel |
| authorships[0].is_corresponding | False |
| authorships[1].author.id | https://openalex.org/A5114482365 |
| authorships[1].author.orcid | |
| authorships[1].author.display_name | Rika Antonova |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Antonova, Rika |
| authorships[1].is_corresponding | False |
| authorships[2].author.id | https://openalex.org/A5007498199 |
| authorships[2].author.orcid | https://orcid.org/0000-0003-2228-6815 |
| authorships[2].author.display_name | Brian Coltin |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Coltin, Brian |
| authorships[2].is_corresponding | False |
| authorships[3].author.id | https://openalex.org/A5050003000 |
| authorships[3].author.orcid | https://orcid.org/0000-0002-0206-4337 |
| authorships[3].author.display_name | Marco Pavone |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Pavone, Marco |
| authorships[3].is_corresponding | False |
| authorships[4].author.id | https://openalex.org/A5021676288 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-4921-7193 |
| authorships[4].author.display_name | Jeannette Bohg |
| authorships[4].author_position | last |
| authorships[4].raw_author_name | Bohg, Jeannette |
| authorships[4].is_corresponding | False |
| has_content.pdf | False |
| has_content.grobid_xml | False |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/2505.01630 |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Deformable Cargo Transport in Microgravity with Astrobee |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T06:51:31.235846 |
| primary_topic.id | https://openalex.org/T10406 |
| primary_topic.field.id | https://openalex.org/fields/31 |
| primary_topic.field.display_name | Physics and Astronomy |
| primary_topic.score | 0.9940999746322632 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/3103 |
| primary_topic.subfield.display_name | Astronomy and Astrophysics |
| primary_topic.display_name | Planetary Science and Exploration |
| cited_by_count | 0 |
| locations_count | 2 |
| best_oa_location.id | pmh:oai:arXiv.org:2505.01630 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://arxiv.org/pdf/2505.01630 |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | text |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://arxiv.org/abs/2505.01630 |
| primary_location.id | pmh:oai:arXiv.org:2505.01630 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4306400194 |
| primary_location.source.issn | |
| primary_location.source.type | repository |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | arXiv (Cornell University) |
| primary_location.source.host_organization | https://openalex.org/I205783295 |
| primary_location.source.host_organization_name | Cornell University |
| primary_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| primary_location.license | |
| primary_location.pdf_url | https://arxiv.org/pdf/2505.01630 |
| primary_location.version | submittedVersion |
| primary_location.raw_type | text |
| primary_location.license_id | |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | |
| primary_location.landing_page_url | http://arxiv.org/abs/2505.01630 |
| publication_date | 2025-05-02 |
| publication_year | 2025 |
| referenced_works_count | 0 |
| abstract_inverted_index.a | 3, 28, 43 |
| abstract_inverted_index.We | 0, 22 |
| abstract_inverted_index.an | 14 |
| abstract_inverted_index.at | 57 |
| abstract_inverted_index.in | 11 |
| abstract_inverted_index.is | 51 |
| abstract_inverted_index.of | 35 |
| abstract_inverted_index.on | 16 |
| abstract_inverted_index.to | 41 |
| abstract_inverted_index.MPC | 30 |
| abstract_inverted_index.Our | 49 |
| abstract_inverted_index.and | 6, 19, 55 |
| abstract_inverted_index.bag | 39 |
| abstract_inverted_index.for | 9 |
| abstract_inverted_index.also | 23 |
| abstract_inverted_index.code | 50 |
| abstract_inverted_index.from | 27 |
| abstract_inverted_index.with | 13 |
| abstract_inverted_index.(CTB) | 40 |
| abstract_inverted_index.cargo | 17, 37 |
| abstract_inverted_index.fully | 53 |
| abstract_inverted_index.stack | 8 |
| abstract_inverted_index.using | 32 |
| abstract_inverted_index.NASA's | 36 |
| abstract_inverted_index.finite | 46 |
| abstract_inverted_index.model. | 48 |
| abstract_inverted_index.models | 34 |
| abstract_inverted_index.tasks. | 21 |
| abstract_inverted_index.Python, | 12 |
| abstract_inverted_index.control | 7, 42 |
| abstract_inverted_index.element | 47 |
| abstract_inverted_index.present | 1 |
| abstract_inverted_index.success | 26 |
| abstract_inverted_index.Astrobee | 10 |
| abstract_inverted_index.emphasis | 15 |
| abstract_inverted_index.transfer | 38 |
| abstract_inverted_index.available | 56 |
| abstract_inverted_index.transport | 20 |
| abstract_inverted_index.deformable | 45 |
| abstract_inverted_index.high-order | 44 |
| abstract_inverted_index.simulation | 4 |
| abstract_inverted_index.controller, | 31 |
| abstract_inverted_index.demonstrate | 24 |
| abstract_inverted_index.documented, | 54 |
| abstract_inverted_index.environment | 5 |
| abstract_inverted_index.preliminary | 25 |
| abstract_inverted_index.pyastrobee: | 2 |
| abstract_inverted_index.manipulation | 18 |
| abstract_inverted_index.open-source, | 52 |
| abstract_inverted_index.reduced-order | 33 |
| abstract_inverted_index.sampling-based | 29 |
| abstract_inverted_index.https://danielpmorton.github.io/pyastrobee | 58 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 5 |
| citation_normalized_percentile |