{"id":"https://openalex.org/W7138173840","doi":"https://doi.org/10.48550/arxiv.2603.14598","title":"SmallSatSim: A High-Fidelity Simulation and Training Toolkit for Microgravity Robotic Close Proximity Operations","display_name":"SmallSatSim: A High-Fidelity Simulation and Training Toolkit for Microgravity Robotic Close Proximity Operations","publication_year":2026,"publication_date":"2026-03-15","ids":{"openalex":"https://openalex.org/W7138173840","doi":"https://doi.org/10.48550/arxiv.2603.14598"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14598","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129654611","display_name":"David Schwartz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schwartz, David","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129752731","display_name":"Alexander Hansson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hansson, Alexander","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049906515","display_name":"Sabrina Bodmer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bodmer, Sabrina","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019334319","display_name":"David Sternberg","orcid":"https://orcid.org/0000-0002-3925-1304"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sternberg, David","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058962379","display_name":"Oliver Jia-Richards","orcid":"https://orcid.org/0000-0001-8224-8226"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia-Richards, Oliver","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129713900","display_name":"Keenan Albee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Albee, Keenan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.7967000007629395,"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":0.7967000007629395,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.19339999556541443,"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/T12449","display_name":"Spacecraft Design and Technology","score":0.0015999999595806003,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7267000079154968},{"id":"https://openalex.org/keywords/rendezvous","display_name":"Rendezvous","score":0.7182000279426575},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5812000036239624},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5249000191688538},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.48249998688697815},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.46209999918937683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4544999897480011},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43650001287460327}],"concepts":[{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7267000079154968},{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.7182000279426575},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5812000036239624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5759999752044678},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5249000191688538},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.5113000273704529},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.48249998688697815},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.46209999918937683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4544999897480011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43650001287460327},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43070000410079956},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4180000126361847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36309999227523804},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3330000042915344},{"id":"https://openalex.org/C2987528665","wikidata":"https://www.wikidata.org/wiki/Q854845","display_name":"Earth observation satellite","level":3,"score":0.3310999870300293},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33079999685287476},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29330000281333923},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2653999924659729},{"id":"https://openalex.org/C506615639","wikidata":"https://www.wikidata.org/wiki/Q21662260","display_name":"Command and control","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14598","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Microgravity":[0,28],"rendezvous":[1],"and":[2,18,24,36,51,62,98,115,121,144,158,162,170],"close":[3],"proximity":[4],"operations":[5],"(RPO)":[6],"is":[7,117],"a":[8,71],"growing":[9],"area":[10],"of":[11,55,64,135],"interest":[12],"for":[13,33,39,119,151,166],"applications":[14],"spanning":[15],"in-space":[16],"assembly":[17],"manufacturing":[19],"(ISAM),":[20],"orbital":[21],"debris":[22],"remediation,":[23],"small":[25,84,183],"body":[26],"exploration.":[27],"environments":[29],"present":[30],"unique":[31],"challenges":[32],"robotic":[34,91,167,182],"control":[35,107,137],"planning":[37,48,169],"algorithms":[38],"new":[40],"agile":[41,181],"RPO":[42,66,86,152,168],"mission":[43],"scenarios":[44],"like":[45],"free-floating":[46],"manipulation,":[47],"under":[49,95,139],"failure,":[50],"estimating":[52],"high-fidelity":[53,72],"dynamics":[54,87],"tumbling":[56],"bodies.":[57],"To":[58],"facilitate":[59],"the":[60,77,133],"development":[61],"testing":[63],"novel":[65],"algorithms,":[67],"we":[68],"introduce":[69],"SmallSatSim,":[70],"simulation":[73,123],"toolkit":[74,174],"that":[75],"leverages":[76],"MuJoCo":[78,113],"physics":[79],"engine":[80],"to":[81,176],"accurately":[82],"model":[83,96],"satellite":[85,184],"in":[88,179],"local":[89],"microgravity":[90],"free-flight":[92],"settings,":[93],"including":[94],"disturbances":[97],"perturbations.":[99],"The":[100,172],"framework":[101],"includes":[102],"cutting":[103],"edge":[104],"out-of-the-box":[105],"free-flyer":[106],"techniques.":[108],"A":[109],"GPU-accelerated":[110],"pipeline":[111],"using":[112],"MJX":[114],"JAX":[116],"implemented":[118],"sampling-":[120],"learning-based":[122],"uses":[124],"cases.":[125],"SmallSatSim":[126],"also":[127],"supports":[128],"configurable":[129],"failure":[130],"models,":[131],"enabling":[132],"evaluation":[134],"safe":[136],"strategies":[138],"adversarial":[140],"conditions.":[141],"Visualization,":[142],"logging,":[143],"GPU-enabled":[145],"parallelization":[146],"further":[147],"enhance":[148],"SmallSatSim's":[149,156],"capability":[150],"testing.":[153],"We":[154],"outline":[155],"features":[157],"intended":[159],"use":[160,165],"cases,":[161],"demonstrate":[163],"its":[164],"control.":[171],"open-sourced":[173],"aims":[175],"accelerate":[177],"research":[178],"autonomous,":[180],"operations.":[185]},"counts_by_year":[],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2026-03-18T00:00:00"}
