Control Barrier Functions for Safe Free-Flying Robotic Spacecraft Operations in Tumbling Target Capture

arXiv:2609.25905 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-22

Updated: 2026-09-29

Comments: Accepted to the international Conference on Space Robotics (iSpaRo) 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Approach Corridor — 5× in this paper
• Collision Avoidance Zone — 4× in this paper
• European Control Conference — 3× in this paper
• Robustness — 3× in this paper · explained in 5 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Curse of Dimensionality — 1× in this paper · explained in 6 episodes
• Keep-Out Zone — 1× in this paper
• Modularity — 1× in this paper · explained in 9 episodes
• On Orbit Servicing — 1× in this paper
• Phase Transitions — 1× in this paper · explained in 2 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies