发表机构
Manifold Research Group; Purdue University; School of Aeronautics and Astronautics, Purdue University（流形研究小组; 普渡大学; 普渡大学航空航天学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对模块化航天器结构损坏问题，提出受生物启发的应力共享修复策略，将航天器建模为晶格约束图，利用局部信息自主修复。经模拟评估，该策略能有效整合幸存模块，适合作为大型模块化航天器群体规模修复策略。
AI 中文摘要
模块化航天器中的结构损坏会破坏机械和通信连接性，降低系统能力。现有方法依赖冗余或预先规划的重新配置，无法在局部信息和物理约束下进行自主修复。我们将航天器建模为晶格约束图，并引入一种受生物伤口愈合启发的完全分散、异步应力共享修复策略：局部遇险信号引导幸存模块前往受损区域以闭合碎片间隙，之后每个移位模块仅利用局部信息且无需绝对位置传感，在本地追溯自身运动以恢复损伤前形状。我们在PyBullet刚体模拟中对该策略进行评估，涵盖多达160个模块的结构、三种故障密度（10%、20%、30%）以及随机和局部损伤情况。该策略将幸存模块整合为单个连接体：即使在最严峻测试案例中，即30%的模块随机失效时，它也能将约80%或更多的幸存模块聚集到一个连接组件中，且这一比例随组件规模增大而提高，使其非常适合作为大型模块化航天器的群体规模修复策略。
英文摘要
Structural damage in modular spacecraft can disrupt mechanical and communication connectivity, reducing system capability. Existing approaches rely on redundancy or preplanned reconfiguration and do not enable autonomous repair under local information and physical constraints. We model the spacecraft as a lattice-constrained graph and introduce a fully decentralized, asynchronous stress-sharing repair policy inspired by biological wound healing: local distress signals guide surviving modules toward damaged regions to close fragmented gaps, after which each displaced module locally retraces its own motions to recover the pre-damage shape, using only local information and no absolute position sensing. We evaluate the policy in PyBullet rigid-body simulation across structures of up to 160 modules, three fault densities (10, 20, 30%), and random and localized damage. The policy consolidates the surviving modules into a single connected body: even in the most severe case tested, where 30% of modules fail at random, it gathers roughly 80% or more of the surviving modules into one connected component, and this fraction improves with assembly size, making the approach well suited as a swarm-scale repair policy for large modular spacecraft.
Comments6 pages, 3 figures. Submitted to the IEEE Robotics and Automation Letters
