Multi-orbit routing and scheduling of refuellable on-orbit servicing space robots

Abstract

We present the Multi-Orbit Routing and Scheduling of Refuellable Space Robots for On-Orbit Servicing optimization problem which determines how to best route and schedule a fleet of highly maneuverable and refuellable space robot servicers to complete a set of tasks orbiting in space. We formulate this problem as a mixed-integer linear program and seek to maximize the weighted number of completed tasks subject to constraints related to the movements of the space robots, refueling depots, and tasks. We present and demonstrate algorithms for constructing the network and model using case studies with data based on satellites operating in the Low Earth, Mid Earth, and Geosynchronous Earth Orbits. Our results indicate the benefit of considering multiple orbits and policies related to the number and starting locations of robot servicers and refueling depots.