Model design of on-orbit autonomous assembly multi-robot systems

On-orbit autonomous assembly is a solution of building large space structures, these structures are larger than any current or proposed launch vehicles and should be launch as several separate parts. To assembly these parts, using multi-robot systems are a fair way. Due to the space environment and complexity structures, on-orbit assembly is different to other tasks. For the actual application of the on-orbit autonomous assembly, the modeling of the multi-robot system is introduced. The model is a hierarchical multi-robot system, and top-down design method is used in whole design.