ICRA 2011 Paper Abstract


Paper TuP207.2

Shankar, Krishna (University of Ilinois at Urbana-Champaign), Peterson, Kevin M (Carnegie Mellon University), Jones, Heather (Carnegie Mellon University), Moidel, Justin (Carnegie Mellon University), Whittaker, William (Carnegie Mellon University)

A Long-Duration Propulsive Lunar Landing Testbed

Scheduled for presentation during the Regular Sessions "Space Robotics" (TuP207), Tuesday, May 10, 2011, 15:40−15:55, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Control Architectures and Programming, Space Robotics


Affordable test articles for descent and landing are crucial for developing commercial lunar landing capability. To ensure successful lunar landing, flight software must be tested over mission-length durations on hardware exhibiting dynamics analogous to those of true flight articles. Energetic and structural constraints typically preclude affordable long-duration lander tests.

This paper details a first-in-kind propulsive lunar lander testbed designed for long-duration testing. The hardware and software on this platform exhibit dynamics that closely approximate those of real lunar landers and are exhibited to operate stably and indefinitely. The platform requires minimal infrastructure and is low cost to operate.

Platform configuration is outlined and state estimation for indefinite duration testing is detailed.



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