{"id":"https://openalex.org/W3135401395","doi":"https://doi.org/10.1109/lra.2021.3064510","title":"A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions","display_name":"A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions","publication_year":2021,"publication_date":"2021-03-08","ids":{"openalex":"https://openalex.org/W3135401395","doi":"https://doi.org/10.1109/lra.2021.3064510","mag":"3135401395"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3064510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3064510","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013295793","display_name":"Marco De Stefano","orcid":"https://orcid.org/0000-0003-3777-9487"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marco De Stefano","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001084080","display_name":"Hrishik Mishra","orcid":"https://orcid.org/0000-0002-5025-2447"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hrishik Mishra","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081379048","display_name":"Alessandro Giordano","orcid":"https://orcid.org/0000-0003-2291-7525"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alessandro M. Giordano","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073209887","display_name":"Roberto Lampariello","orcid":"https://orcid.org/0000-0002-8479-2900"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roberto Lampariello","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013295793"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":25.881,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99164681,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"3569","last_page":"3576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.7691383361816406},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.7464678287506104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6223017573356628},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.6039566993713379},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5088996887207031},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4938710331916809},{"id":"https://openalex.org/keywords/hardware-in-the-loop-simulation","display_name":"Hardware-in-the-loop simulation","score":0.48874568939208984},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4672090411186218},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46445417404174805},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4516181945800781},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4399012625217438},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4386557936668396},{"id":"https://openalex.org/keywords/space-debris","display_name":"Space debris","score":0.43221715092658997},{"id":"https://openalex.org/keywords/robotic-spacecraft","display_name":"Robotic spacecraft","score":0.41731879115104675},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2817685008049011},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24751588702201843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22527512907981873},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15435856580734253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14521524310112},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12358412146568298},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.0942126214504242}],"concepts":[{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7691383361816406},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.7464678287506104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6223017573356628},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.6039566993713379},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5088996887207031},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4938710331916809},{"id":"https://openalex.org/C70587628","wikidata":"https://www.wikidata.org/wiki/Q1142371","display_name":"Hardware-in-the-loop simulation","level":2,"score":0.48874568939208984},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4672090411186218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46445417404174805},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4516181945800781},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4399012625217438},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4386557936668396},{"id":"https://openalex.org/C18949120","wikidata":"https://www.wikidata.org/wiki/Q275450","display_name":"Space debris","level":3,"score":0.43221715092658997},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.41731879115104675},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2817685008049011},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24751588702201843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22527512907981873},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15435856580734253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14521524310112},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12358412146568298},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0942126214504242},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3064510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3064510","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:147152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2021.3064510>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W70688749","https://openalex.org/W1493088396","https://openalex.org/W2006830626","https://openalex.org/W2017239762","https://openalex.org/W2026299733","https://openalex.org/W2048390730","https://openalex.org/W2090308161","https://openalex.org/W2131014276","https://openalex.org/W2164218730","https://openalex.org/W2171131635","https://openalex.org/W2643793157","https://openalex.org/W2726801465","https://openalex.org/W2738269955","https://openalex.org/W2883461065","https://openalex.org/W2888774799","https://openalex.org/W2912764369","https://openalex.org/W2921327007","https://openalex.org/W2981761103","https://openalex.org/W3045524138","https://openalex.org/W4248254431","https://openalex.org/W6602885320"],"related_works":["https://openalex.org/W1984685701","https://openalex.org/W2998405407","https://openalex.org/W4324057439","https://openalex.org/W2730662665","https://openalex.org/W2612949289","https://openalex.org/W4224100378","https://openalex.org/W4244230871","https://openalex.org/W2128051734","https://openalex.org/W4302076475","https://openalex.org/W2466447974"],"abstract_inverted_index":{"In":[0,47],"this":[1],"letter,":[2],"we":[3,49],"propose":[4],"a":[5,13,19,35,51,60,64,72,76,106],"novel":[6],"method":[7,84,92],"for":[8,59,101],"the":[9,28,42,56,82,91,98,102,110],"on-ground":[10],"simulation":[11],"of":[12,44,81,90,104],"space":[14,112],"robotic":[15,20],"mission,":[16],"while":[17],"exploiting":[18],"hardware-in-the-loop":[21],"facility.":[22],"The":[23,88],"simulated":[24],"dynamics":[25],"replicated":[26],"by":[27],"robots":[29],"are":[30,69],"defined":[31],"with":[32],"respect":[33],"to":[34,55],"nominal":[36,57],"motion.":[37],"This":[38],"approach":[39],"enables":[40],"simulating":[41],"motion":[43,58],"large":[45],"satellites.":[46],"particular,":[48],"exploit":[50],"Lagrangian":[52],"matching":[53],"relative":[54],"satellite":[61,108],"(client)":[62],"and":[63,75,109],"manipulator-equipped":[65],"spacecraft":[66],"(servicer),":[67],"which":[68],"modeled":[70],"as":[71],"rigid":[73],"body":[74],"multi-body":[77],"system,":[78],"respectively.":[79],"Stability":[80],"proposed":[83],"is":[85,93],"also":[86],"analyzed.":[87],"effectiveness":[89],"demonstrated":[94],"through":[95],"experiments":[96],"on":[97],"OOS-Sim":[99],"facility":[100],"capture":[103],"Envisat,":[105],"free-tumbling":[107],"largest":[111],"debris":[113],"in":[114],"Low-Earth-Orbit.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
