ESROCOS: Development and Validation of a Space Robotics Framework

Miguel Muñoz Arancón; Malte Wirkus; Kilian Hoeflinger; Nikolaos Tsiogkas; Saddek Bensalem; Olli Rantanen; Daniel Silveira; Jérôme Hugues; Mark Shilton; Herman Bruyninckx

doi:10.1007/978-3-031-39214-6_6

ESROCOS: Development and Validation of a Space Robotics Framework

Miguel Muñoz Arancón^*
, Malte Wirkus
, Kilian Hoeflinger
, Nikolaos Tsiogkas
, Saddek Bensalem
, Olli Rantanen
, Daniel Silveira
, Jérôme Hugues
, Mark Shilton
, Herman Bruyninckx

^*Corresponding author for this work

GMV Aerospace and Defence
German Research Center for Artificial Intelligence
German Aerospace Center (DLR)
Katholieke Universiteit Leuven (KU Leuven)
Intermodalics BVBA
Grenoble Alpes University
GMVIS Skysoft SA
Carnegie Mellon University
Université de Toulouse
Airbus Defence and Space SAS

Research output: Chapter in Book/Report/Conference proceeding › Chapter or book article › Scientific › peer-review

1 Citation (Scopus)

Abstract

The H2020 ESROCOS project has built an open-source framework for the development of space robotics software. The ESROCOS framework provides a model-based engineering approach and a collaborative development process. It integrates proven and new technologies, providing modelling and verification tools as well as reusable components that facilitate the production of high-quality robot control software. While other robotics frameworks exist, ESROCOS is designed from the ground up to fulfil the needs of the space robotics community, which requires sound software engineering processes. This paper presents the outcomes of the ESROCOS project, the evaluation activities performed in three case studies (on-orbit servicing, planetary exploration and nuclear industry), and the results of this evaluation.

Original language	English
Title of host publication	Space Robotics
Subtitle of host publication	The State of the Art and Future Trends
Editors	Xiu Tian Fan, Gianfranco Visentin
Place of Publication	Cham
Publisher	Springer Nature
Pages	121-134
ISBN (Electronic)	978-3-031-39214-6
ISBN (Print)	978-3-031-39213-9
DOIs	https://doi.org/10.1007/978-3-031-39214-6_6
Publication status	Published - 1 Jan 2024
MoE publication type	A3 Part of a book or another research book

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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10.1007/978-3-031-39214-6_6

Cite this

Arancón, M. M., Wirkus, M., Hoeflinger, K., Tsiogkas, N., Bensalem, S., Rantanen, O., Silveira, D., Hugues, J., Shilton, M., & Bruyninckx, H. (2024). ESROCOS: Development and Validation of a Space Robotics Framework. In X. T. Fan, & G. Visentin (Eds.), Space Robotics: The State of the Art and Future Trends (pp. 121-134). Springer Nature. https://doi.org/10.1007/978-3-031-39214-6_6

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ESROCOS: Development and Validation of a Space Robotics Framework. / Arancón, Miguel Muñoz; Wirkus, Malte; Hoeflinger, Kilian et al.
Space Robotics: The State of the Art and Future Trends. ed. / Xiu Tian Fan; Gianfranco Visentin. Cham: Springer Nature, 2024. p. 121-134.

Research output: Chapter in Book/Report/Conference proceeding › Chapter or book article › Scientific › peer-review

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AU - Arancón, Miguel Muñoz

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AU - Tsiogkas, Nikolaos

AU - Bensalem, Saddek

AU - Rantanen, Olli

AU - Silveira, Daniel

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AU - Bruyninckx, Herman

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AB - The H2020 ESROCOS project has built an open-source framework for the development of space robotics software. The ESROCOS framework provides a model-based engineering approach and a collaborative development process. It integrates proven and new technologies, providing modelling and verification tools as well as reusable components that facilitate the production of high-quality robot control software. While other robotics frameworks exist, ESROCOS is designed from the ground up to fulfil the needs of the space robotics community, which requires sound software engineering processes. This paper presents the outcomes of the ESROCOS project, the evaluation activities performed in three case studies (on-orbit servicing, planetary exploration and nuclear industry), and the results of this evaluation.

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A2 - Fan, Xiu Tian

A2 - Visentin, Gianfranco

PB - Springer Nature

CY - Cham

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ESROCOS: Development and Validation of a Space Robotics Framework

Abstract

UN SDGs

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