# Multi-Agent 3D Map Reconstruction and Change Detection in Microgravity with Free-Flying Robots

arXiv: https://arxiv.org/abs/2311.02558 · HTML: https://mlsanity.com/paper/2311.02558/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 1 of its 38 references that are in the map.
- First posted on arXiv 5 Nov 2023.

## Builds on (most cited first, 1 of 1)

- [Detection-by-Localization: Maintenance-Free Change Object Detector](https://mlsanity.com/paper/1809.05267/) (2018)

## Built on by (most cited first, 3 of 3)

- [Unsupervised Change Detection for Space Habitats Using 3D Point Clouds](https://mlsanity.com/paper/2312.02396/) (2023)
- [Go Beyond Earth: Understanding Human Actions and Scenes in Microgravity Environments](https://mlsanity.com/paper/2506.02845/) (2025)
- [In-Situ Reconstruction of the International Space Station Using 3D Gaussian Splatting and Astrobee](https://mlsanity.com/paper/2608.21685/) (2026)

## Abstract (arXiv)

Assistive free-flyer robots autonomously caring for future crewed outposts -- such as NASA's Astrobee robots on the International Space Station (ISS) -- must be able to detect day-to-day interior changes to track inventory, detect and diagnose faults, and monitor the outpost status. This work presents a framework for multi-agent cooperative mapping and change detection to enable robotic maintenance of space outposts. One agent is used to reconstruct a 3D model of the environment from sequences of images and corresponding depth information. Another agent is used to periodically scan the environment for inconsistencies against the 3D model. Change detection is validated after completing the surveys using real image and pose data collected by Astrobee robots in a ground testing environment and from microgravity aboard the ISS. This work outlines the objectives, requirements, and algorithmic modules for the multi-agent reconstruction system, including recommendations for its use by assistive free-flyers aboard future microgravity outposts.