Deformable Cargo Transport in Microgravity with Astrobee

We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available atthis https URL

@article{morton2025_2505.01630,
  title={ Deformable Cargo Transport in Microgravity with Astrobee },
  author={ Daniel Morton and Rika Antonova and Brian Coltin and Marco Pavone and Jeannette Bohg },
  journal={arXiv preprint arXiv:2505.01630},
  year={ 2025 }
}