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Control Barrier Functions for Safe Free-Flying Robotic Spacecraft Operations in Tumbling Target Capture

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

This paper presents a modular control barrier function (CBF) framework for safe free-flying robotic spacecraft operations during tumbling target capture. Motivated by latest ESA guidelines for safe close proximity operations, safety zones and requirements are translated into dedicated CBFs. The 13-DoF system is decomposed into translational, attitude, and robotic subsystems, each equipped with a safety filter that minimally modifies nominal control inputs in a lightweight quadratic program. The filters enforce a conical approach corridor, collision avoidance zone, attitude line-of-sight pointi

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