Applying a layered control architecture to a free-flying space camera

Describes a prototype robot for space applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the space station. The goal of the robot is to provide remote views to astronauts and ground controllers. The robot can autonomously move to locations on an air bearing table, can track targets and can plan paths. The robot contains a large collection of different technologies and this paper concentrates on a layered control architecture that integrates all robot functions