SPHERES Library

Publications and Papers

Author Title Journal/Conference Date Paper Pres
James, J., Jewison, C., Sternberg, D., Sanchez, W., Roascio, D., and Saenz-Otero, A. Recent SPHERES Docking and Reconfiguration Experiments on the ISS (Presentation Only) ISS Research and Development Conference 2016 PDF
Mantellato, R., Lorenzini, E., Sternberg, D., Roascio, D., Saenz-Otero, A., Zachrau, H. Simulation of a Tethered Microgravity Robot Pair and Validation on a Planar Air Bearing Tethers in Space Conference 2016
Sternberg, D., Miller, D., Jewison, C., James, J., Hilton, A., McCarthy, B., Roascio, D., and Saenz-Otero, A. Reconfigurable Ground and Flight Testing Facility for Robotic Servicing, Capture, and Assembly IEEE Aerospace Conference 2016 PDF
Sternberg, D., Sheerin, T., Urbain, G. INSPECT Sensor Suite for On-Orbit Inspection and Characterization with Extravehicular Activity Spacecraft ICES Conference 2015
Jewison, C., Sternberg, D., McCarthy, B., Miller, D., Saenz-Otero, A. Definition and Testing of an Architectural Tradespace for On-Orbit Assemblers and Servicers IAC 2014 2014 PDF PDF
Jewison, C., McCarthy, B., Sternberg, D., Strawser, D., Fang, C. Resource Aggregated Reconfigurable Control and Risk-Allocative Path Planning for On-orbit Assembly and Servicing of Satellites AIAA SciTech GNC-19 Session 2014 PDF
Tweddle, B.E., Saenz-Otero, A., and Miller, D.W. Vision-Based Relative Navigation and Control for Autonomous Spacecraft Inspection of an Unknown Object AIAA Guidance, Navigation and Control Conference 2013 PDF
Nag, S., Katz, J.G., Saenz-Otero, A. Collaborative Gaming and Competition for CS-STEM Education using SPHERES Zero Robotics Acta Astronautica, vol. 83, February-March 2013, pp. 145-174. February-March 2013 PDF
Eslinger, G. Electromagnetic Formation Flight Control Using Dynamic Programming 36th Annual AAS Guidance and Control Conference, Breckenridge, CO, 1-6 February, 2013. February 2013 PDF
Tweddle, B.E., Saenz-Otero, A., and Miller, D.W. The SPHERES VERTIGO Goggles: Vision Based Mapping and Localization onboard the International Space Station International Symposium on Artificial Intelligence, Robotics and Automation in Space, Turin, Italy, 4-6 September, 2012 September 2012 PDF
O'Connor, M.C., Tweddle, B.E., Katz, J.G., Makowka, K., Saenz-Otero, A., and Miller, D.W. Visual-Inertial Estimation and Control for Inspection of Tumbling Spacecraft: Experimental Results from the International Space Station AIAA Guidance, Navigation and Control Conference, Minneapolis, MN, 26-28 June, 2012 June 2012 PDF
Nag, S., Heffan, I., Saenz-Otero, A., and Lydon, M. SPHERES Zero Robotics Software Development: Lessons on Crowdsourcing and Collaborative Competition IEEE Aerospace Conference, Big Sky, MT, 3-10 March, 2012. June 2012 PDF
Saenz-Otero, A., Katz, J.G., and Mwijuka, A.T. The Zero Robotics SPHERES Challenge 2010 IEEE Aerospace and Electronic Systems Magazine, vol. 26, no. 7, 2011, pp. 4-17 2011 PDF
Tweddle, B E Relative Computer Vision Based Navigation for Small Inspection Spacecraft AIAA Guidance, Navigation and Control Conference (Winner of Best Student Paper Award) August 2011 PDF PDF ZIP
Tweddle, B E, J. McClellan, G. Vulikh, J. Francis, D.W. Miller Relative Vision Based Navigation and Control for the Mars Sample Return Mission: Capturing the Orbiting Sample 4th Int. Conf. on Spacecraft Formation Flying Missions and Technologies May 2011 PDF ZIP
Tweddle, B E SPHERES VERTIGO Program: Vision Based Navigation Research Onboard the International Space Station Int. Conf. on Robotics and Automation 2011 May 2011 N/A ZIP
Katz, J G, Saenz-Otero, A, Miller, D W Development and Demonstration of an Autonomous Collision Avoidance Algorithm aboard the ISS IEEE Aerospace Conference 6-11 March 2011 PDF PDF
Saenz-Otero, A, Katz, J G, Mwijuka, A T The Zero Robotics SPHERES Challenge 2010 IEEE Aerospace Conference 6-11 March 2011 PDF PDF
Ramirez-Riberos, J, Pavone, M, Frazzoli E, Miller, D W Distributed Control of Spacecraft Formations via Cyclic Pursuit: Theory and Experiments Journal of Guidance, Control, and Dynamics 0731-5090 vol.33 no.5 (1655-1669) 2010 PDF
Saenz-Otero, A, Katz, J G, Mohan, S, Miller, D W, Chamitoff G ZERO-Robotics: A Student Competition aboard the International Space Station Proc. IEEE Aerospace Conference. paper #11263, Big Sky, MT March 2010 PDF
Pong, C M, Saenz-Otero, A, Miller D W Autonomous Thruster Failure Recovery on Underactuated Spacecraft using Model Predictive Control AAS Guidance and Control Conference, Breckenridge, CO, Paper #11-033 Feb 4-9 2011 PDF
Katz, J G, Mohan, S, Miller, D W On-Orbit Assembly of Flexible Space Structures with SWARM Proc. AIAA Infotech Conference. Atlanta, GA. 2010 PDF
Stoll, E, Saenz-Otero, A Ground and Flight Testing of Multiple Spacecraft Control on SPHERES During Close Proximity Operations Machine Learning and Systems Engineering. Chapter I: Multimodal Human SPacecraft Interaction in Remote Environmants. Springer Dordrecht Heildelberg. DOI 10.1007/978-90-481-9419-3. pp 1-14 2010 Online
McCarnish, S B, Romano, M, Nolet, S, et al Ground and Flight Testing of Multiple Spacecraft Control on SPHERES During Close Proximity Operations Journal of Spacecraft and Rockets Nov-Dec 2009 PDF
Enrico Stoll, Daniel Kwon The Benefit of Multimodal Telepresence for In-Space Robotic Assembly The 14th IASTED International Conference on Robotics and Applications November 2-4, 2009 PDF
Enrico Stoll, Markus Wilde, Christopher Pong Using Virtual Reality for Human-Assisted In-Space Robotic Assembly International Conference on Intelligent Automation and Robotics October 20-22, 2009 PDF
Andrade, C, Ramirez Mendoza, R, et al Robust Control Applied Towards Rendezvous and Docking European Controls Conference 23-26 Aug 2009 PDF
Mohan, S Tools for Reconfigurable Control System Comparisons for Autonomous Assembly Applications International Astronautical Congress, IAC-09.C1.4.3 October 12-16, 2009 PDF PDF
Tweddle, B E, Saenz-Otero, A,Miller, D W Design and Development of a Visual Navigation Testbed for Spacecraft Proximity Operations AIAA Space Conference and Exposition, AIAA-2009-6547 Sept 14-17, 2009 PDF PDF
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Swati, S, Miller, D W SPHERES Reconfigurable Framework and Control System Design for Autonomous Assembly AIAA Guidance, Navigation, and Control Conference, AIAA-2009-5978 Aug. 10-13, 2009 PDF PDF
Mohan, S, Saenz-Otero, A, Nolet, S, Miller, D W, Sell, S SPHERES flight operations testing and execution ActaAstronautica (2009),doi: 10.1016/j.actaastro.2009.03.039 April 2009 PDF
Saenz-Otero, A, Katz, J G, Miller, D W SPHERES Demonstrations of Satellite Formations aboard the ISS AAS Guidance and Navigation Conference Jan 30 - Feb 4, 2009 PDF PDF
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Chung, S-J, Slotine J-J E, Miller, D W Propellant-Free Control of Spinning Tethered Formation Flight, Part 2: Nonlinear Underactuated Control AIAA Journal of Guidance, Control, and Dynamics Vol 31, Sep-Oct 2008, pp1437-1446 PDF
Fejzic, A, et al Results of SPHERES Microgravity Autonomous Docking Experiments in the Presence of Anomalies 59th International Astronautical Congress Sep-Oct 2008 PDF PDF
Saenz-Otero, A, et al Distributed Satellite Systems Algorithm Maturation with SPHERES Aboard the ISS 59th International Astronautical Congress Sep-Oct 2008 PDF PDF
Mohan, S SPHERES Reconfigurable Control Allocation for Autonomous Assembly AIAA Guidance, Navigation, and Control Conference Aug 2008 PDF PPT
McCamish, S B, et al Ground and Space Testing of Multiple Spacecraft Control During Close-Proximity Operations AIAA Guidance, Navigation, and Control Conference Aug 2008 PDF
Gordon, P SPHERES Control of Attitude Control System Using Reaction Wheels MIT Summer Research Program Aug 2008 PDF
Miller, D W, Mohan, S, Budinoff, J Assembly of a Large Modular Optical Telescope (ALMOST) SPIE Space Telescopes and Instrumentation 2008 Marseille, France
June 2008
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Chung, S-J, Miller, D W Propellant-Free Control of Spinning Tethered Formation Flight, Part 1: Linear Control and Experimentation AIAA Journal of Guidance, Control, and Dynamics Vol 31, No 3, May-June 2008, pp 51-584 PDF
Aoude,G S, How, J P, Miller, D W Reconfiguration Maneuver Experiments using the SPHERES tesbed onboard the ISS 3rd International Symposium on Formation Flying, Missions and Technologies April 2008 PDF
Tweddle, B E, Saenz-Otero, A SPHERES Development and Demonstrations of Close Proximity Formation Flight Maneuvers Institute of Navigation National Technical Meeting 2008 January 2008 PDF
Mohan, S, Saenz-Otero, A, Nolet, S, et al SPHERES Flight Operations Testing and Execution International Astronautical Congress, Hyderabad, India 24-28 Sept 2007 PDF
Mandy, Ch, Sakamoto, H, Saenz-Otero, A, Miller, D W Implementation of Satellite Formation Flight Algorithms Using SPHERES aboard the International Space Station International Symposium on Space Flight Dynamics, Annapolis, MD 24-28 Sept 2007 PDF
Aoude,G S, How, J P, Garcia, I M Two-Stage Path Planning Approach for Designing Multiple Spacecraft Reconfiguration Maneuvers International Symposium on Space Flight Dynamics, Annapolis, MD 24-28 Sept 2007 PDF
Mandy, Ch, Saenz-Otero, A, Miller, D W Satellite Formation Flight and Realignment Maneuver Demonstration aboard the International Space Station SPIE Optics & Photonics, San Diego, CA 26-30 Aug 2007 PDF
Mohan, S, Sakamoto, H, Miller, D W Formation control and reconfiguration through synthetic imaging formation flying testbed (SIFFT) SPIE Optics & Photonics, San Diego, CA 26-30 Aug 2007 PDF
Nolet, S The SPHERES Navigation System: from Early Developmen to On-Orbit Testing AIAA Guidance, Navigation & Control, Hilton Head, SC 20-23 Aug 2007 PDF
Chung, S-J, Ahsun, U, Slotine, J-J E, Miller, D W Application of Synchronization to Cooperative Control and Formation Flight of Spacecraft AIAA Guidance, Navigation & Control, Hilton Head, SC 20-23 Aug 2007 PDF
Chung, S-J, Slotine, J-J E, Miller, D W New Control Strategies for Underactuated Tethered Formation Flight Spacecraft AIAA Guidance, Navigation & Control, Hilton Head, SC 20-23 Aug 2007 PDF
Saenz-Otero, A, Miller, D W Initial SPHERES Operations aboard the International Space Station IAA Small Satellites for Earth Observation VI, Berlin, Germany 23-26 Apr 2007 PDF PDF
Chung, S-J, Slotine, J-J E, Miller D W Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight AIAA Journal of Guidance, Control, and Dynamics, Vol 30, No 2 2007 PDF
Nolet, S, Saenz-Otero, A, Miller D W, Fejzic, A SPHERES Operations aboard the ISS: Maturation of GN&C Algorithms in Microgravity AAS Guidance, Navigation & Control, Breckeridge, CO 3-7 February 2007 PDF PDF
Chung S-J, Adams, D, et al SPHERES Tethered formation Flight Testbed: Advancements in Enabling NASA's SPECS Mission SPIE Telescope and Instrumentation Symposium, Orlando, FL May 2006 PDF
Saenz-Otero, A, Miller DW Design and Operation of Micro-Gravity Dynamics and Controls Laboratories Space Systems Engineering Conference (SSEC), Geoergia Institute of Technology, Atlanta, GA November 8-10, 2005 PDF  
Chung, S-J, Kong, E M, Miller, D W Dynamics and Control of Tethered Formation Flight Spacecraft Using hte SPHERES Testbed AIAA Guidance, navigation, and Control, San Francisco, CA August 2005 PDF
Chung, SJ, Kong, EMC, Miller, DW Dynamics and Control of Tethered Formation Flight Spacecraft Using the SPHERES Testbed 2005 AIAA Guidance, Navigation and Control Conference, San Francisco, CA August 2005 PDF
Chung, SJ, Kong, EMC, Miller, DW SPHERES Tethered Formation Flight Testbed: Application to NASA’s SPECS Mission SPIE International Symposium on Optics & Photonics [SPIE Code Number: 5899-22], San Diego Convention Center, San Diego, CA July 31-August 4, 2005 PDF  
Saenz-Otero, A, Miller, DW SPHERES: A Platform for Formation-Flight Research SPIE International Symposium on Optics & Photonics [SPIE Code Number: 5899-25], San Diego Convention Center, San Diego, CA July 31-August 4, 2005 PDF  
Saenz-Otero, A, Miller, DW Using ISS to develop telescope technology SPIE International Symposium on Optics & Photonics [SPIE Code Number: 5899-20], San Diego Convention Center, San Diego, CA July 31-August 4, 2005 PDF  
Rodgers, L, Hoff, N, etal A Universal Interface for Modular Spacecraft 19th Annual AIAA/USU Conference on Small Satellites, 2005 SU 2005 PDF  
Blanc-Paques, P Thruster calibration for the spheres spacecraft formation flight testbed Internal Research Report June 2005 PDF
Nolet, S, Kong, EMC, Miller, DW Design of an Algorithm for Autonomous Docking with a Freely Tumbling Target Proceedings of the SPIE Defense and Security Symposium 2005, Vol. 5799-16, Orlando, FL March 2005 PDF PDF
Kong, EMC, Saenz-Otero, A, et al SPHERES as a Formation Flight Algorithm Development and Validation Testbed: Current Progress and Beyond 2nd International Formation Flight Conference, Washington, DC September, 2004 PDF  
Nolet, S, Kong, EMC, Miller, DW Autonomous Docking Algorithm Development and Experimentation Using the SPHERES Testbed Proceedings of SPIE, Vol. 5419, pp. 1-15, Spacecraft Platforms and Infrastructure August 2004 PDF  
Enright, J, Hilstad, MO, et al The SPHERES Guest Scientist Program: Collaborative Science on the ISS 2004 IEEE Aerospace Conference (Paper #1296), Big Sky, Montana March 7-12, 2004 PDF  
Kong, EMC, Hilstad, MO, et al Development and verification of algorithms for spacecraft formation flight using the SPHERES testbed: application to TPF New Frontiers in Stellar Interferometry, Proceedings of SPIE Volume 5491, Bellingham, WA 2004 PDF  
Berkovitz, D, Kong, EMC, Miller DW System Identification of the SPHERES Autonomous Rendezvous and Docking Testbed AIAA Space 2003, Long Beach, CA September 23-25, 2003    
Miller, DW, Kong, EMC, Saenz-Otero, A Overview of the SPHERES Autonomous Rendezvous and Docking Laboratory on the International Space Station 26th Annual AAS Guidance and Control Conference, Breckenridge, CO February 5-9, 2003    
Saenz-Otero, A, Miller, DW The SPHERES ISS laboratory for Rendezvous and Formation Flight 5th ESA Conference on Guidance Navigation and Control, #29, Frascati, Italy October 22-25, 2002 PDF PDF
Saenz-Otero, A, Miller, DW, Hilstad, MO SPHERES: A Laboratory for Formation Flight and Docking Research DCSSS Conference, Cranfield University, Cambridge, UK July 14-18, 2002 PDF  
Miller, DW, Brodeur, DR The CDIO Capstone Course: An Innovation in Undergraduate Systems Engineering Education Proceedings of the 2002 American Society of Engineering Education Annual Conference and Exposition, Montreal, Canada June, 2002 PDF  
Saenz-Otero, A, Chen, A, et al SPHERES: Development of an ISS Laboratory for Formation Flight and Docking Research 2002 IEEE Aerospace Conference, #081 March 9-16, 2002 PDF PDF
Chen, A, Saenz-Otero, A, et al Development of Formation Flight and Docking Algorithms Using the SPHERES Testbed 15th Annual Utah State University Conference on Small Satellites, Logan, Utah August 13-16, 2001 PDF PDF
Miller, DW, de Luis, J Using the Shuttle, MIR and ISS for Operating Micro-Gravity Engineering Research Laboratories [AIAA-2001-4648], Albuquerque, NM August, 2001    
Wertz, J, Chen, A, et al SPHERES: A Testbed for Long Duration Satellite Formation Flying in Micro-Gravity Conditions Proceedings of the AAS/AIAA Space Flight Mechanics Meeting, AAS 00-110, Clearwater, FL January 23-26, 2000    
Miller, DW, Mallory GJW Control Testbeds and Flight Demonstrations: Transitioning Theory to Application American Control Conference (Vol 2), Philadelphia, PA June 1998 PDF