Intra-vehicular free-flying robots are anticipated to support various work in human spaceflight while working side-by-side with astronauts. Such example of robots includes NASA's Astrobee, DLR's CIMON, and JAXA's Int-Ball, which are deployed on the International Space Station. This paper presents the first joint analyses of these robot's shared experiences, co-authored by their development and operation team members. Despite the different origins and design philosophies, the development and operations of these platforms encountered various convergences. Hence, this paper presents a detailed overview of these robots, presenting their objectives, design, and onboard operations. Hence, joint lessons learned across the lifecycle are presented, from design to on-orbit operations. These lessons learned are anticipated to serve for future development and research as design recommendations.

翻译：舱内自由飞行机器人有望在与宇航员并肩工作的同时，支持载人航天飞行中的各项任务。此类机器人的实例包括部署在国际空间站上的NASA Astrobee、DLR CIMON以及JAXA Int-Ball。本文由这些机器人的开发与运行团队成员共同撰写，首次对它们的共享经验进行了联合分析。尽管这些平台起源不同、设计理念各异，但其开发与运行过程却呈现出多方面的趋同性。因此，本文详细概述了这些机器人的任务目标、设计特点及在轨运行情况，进而从设计到在轨运行的全生命周期角度，总结了跨平台的共同经验教训。这些经验教训预计将为未来的开发与研究提供设计建议。