Path planning and reinforcement learning-driven control of on-orbit free-flying multi-arm robots

Álvaro Belmonte-Baeza, José Luis Ramón, Leonard Felicetti, Miguel Cazorla, Jorge Pomares, Department of Computer Science and Artificial Intelligente, University of Alicante, San Vicente del Raspeig, Department of Physics, Systems Engineering and Signal Theory, University of Alicante, San Vicente del Raspeig, Centre for Space Systems, Cranfield University

The International Journal of Robotics Research

Published online on April 24, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system integrates TO for ...