发表机构
Stanford University（斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对航天器避撞的间歇性通信约束，提出半分散式POMDP框架，采用RS-SDA*算法规划，性能接近集中式且同步事件减少28.5%，优于规则启发式方法。
AI 中文摘要
当前航天器避撞操作依赖于与地面站的间歇性通信，操作人员需基于延迟且异步更新的信息进行规划。因此，机动规划只能在操作人员间进行间歇性信息共享，这就提出了一个问题：需要多少协调才能达到与集中式规划相当的避撞性能。尽管部分可观察马尔可夫决策过程（POMDPs）等决策论方法能捕捉避撞的序列性和不确定性，但现有的多智能体扩展通常假设存在持续的信息共享或不反映实际地面站约束的通信模型。为明确建模这种间歇性信息可用性，我们将航天器间的避撞问题表述为半分散式POMDP（SDec-POMDP），其中信息传播直接受实际地面站可见窗口的约束。我们采用近似递归小步半分散式A*（RS-SDA*）计算联合机动策略，该方法遵循基于A*的分散式多智能体规划的最新技术路线。在一组典型的交会场景中，半分散式规划可达到接近集中式的机动质量，同时比持续协调减少28.5%的同步事件。与代表性的基于规则的操作人员启发式方法的比较进一步表明，感知通信的规划能更一致地达到所需的操作 miss-distance 带，同时最小化不必要的轨迹偏差。这些结果共同构建了一个在实际间歇性通信下用于自主避撞的实用规划框架，弥合了理想化集中式协调与完全分散式规划执行之间的差距。
英文摘要
Current spacecraft collision-avoidance operations rely on intermittent ground-station contacts, requiring operators to plan with delayed and asynchronously updated information. Consequently, maneuvers must be planned with only intermittent information sharing between operators, raising the question of how much coordination is needed to achieve collision-avoidance performance comparable to centralized planning. Although decision-theoretic approaches such as partially observable Markov decision processes (POMDPs) capture the sequential and uncertain nature of collision avoidance, existing multiagent extensions typically assume either continuous information sharing or communication models that do not reflect operational ground-station constraints. To explicitly model this intermittent information availability, we formulate the spacecraft-to-spacecraft collision avoidance problem as a semi-decentralized POMDP (SDec-POMDP), where we govern information propagation directly by realistic ground-station visibility windows. Joint maneuver policies are computed using approximate Recursive Small-Step Semi-Decentralized A* (RS-SDA*), following the state-of-the-art A*-based lineage for decentralized multiagent planning. Across a representative suite of conjunction scenarios, semi-decentralized planning recovers near-centralized maneuver quality while requiring 28.5% fewer synchronization events than continuous coordination. Comparisons with representative rule-based operator heuristics further show that communication-aware planning more consistently achieves the desired operational miss-distance band while minimizing unnecessary trajectory deviation. Together, these results establish a practical planning framework for autonomous collision avoidance under realistic intermittent communication, bridging the gap between idealized centralized coordination and fully decentralized planning execution.
Comments21 pages, 2 tables, 10 figures, accepted in 2026 AAS/AIAA Astrodynamics Specialist Conference
