A hierarchical coordination scheme for satellite formation initialization
Randal W. Beard, Wynn C. Stirling, Rick Frost · Guidance, Navigation, and Control Conference and Exhibit · 1998
This paper addresses the problem of initializing a constellation of spacecraft, where a group of spacecraft are instructed to position themselves into a given configuration such that one spacecraft occupies each specified location. The spacecraft must effect these transitions without colliding into each other, and with limited information about the location of the other spacecraft. To solve this problem, the control strategy is broken into three hierarchical levels. The highest level of the hierarchy, termed the Organization Level, issues mission directives to all of the spacecraft. The other two levels are collocated on each individual spacecraft. The middle level, termed the Coordination Level, decides, based on its limited information, the position that spacecraft should seek. The lowest level, termed the Execution Level, implements simple control strategies that move the spacecraft to the desired location and avoid collisions with other spacecraft. The main contribution of this pap...