In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of orbiting space stations, as well as human-assistance tasks over shared workspaces. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space robotics laboratory based on open-source and modular software and hardware. The simulation software provides a software-in-the-loop architecture that seamlessly transfers simulated results to the hardware. Our results provide an insight into such a system, including comparisons of hardware and software results, as well as control and planning methodologies for controlling free-flying platforms.

翻译：在不久的将来，自主空间系统将构成多数在轨航天器。其任务将涉及与大型结构的自主交会及近距离操作，例如在轨空间站的巡检、组装与维护，以及在共享工作空间内执行人机协作任务。为促进航天器自主控制领域可复现且可靠的科学成果，我们提出基于开源模块化软硬件的空间机器人实验室设计方案。该仿真软件提供软件在环架构，能够将仿真结果无缝迁移至硬件平台。我们的研究成果为此类系统提供了深入解析，包括硬件与软件结果的对比分析，以及针对自由飞行平台的控制与规划方法论。