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Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts to track a human-provided desired twist while ensuring safe target motion. The pushing-only nature of the interaction introduces sparse, configuration-dependent actuation constraints requiring chasers to physically relocate on the target body when the desired pushing allocation changes. To address these challenges, we formulate a delay-aware feedback control architecture leveraging Control Lyapunov Function (CLF) an

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