mlsanityData to 14 Oct 2026

Demonstrating Reinforcement Learning and Run Time Assurance for Spacecraft Inspection Using Unmanned Aerial Vehicles

arXiv 2405.06770 ↗First posted 10 May 2024eess.SY cs.SYcited by 2

On the map: Deep reinforcement learning methods → RL for robot navigation and UAV control

Abstract (arXiv)

On-orbit spacecraft inspection is an important capability for enabling servicing and manufacturing missions and extending the life of spacecraft. However, as space operations become increasingly more common and complex, autonomous control methods are needed to reduce the burden on operators to individually monitor each mission. In order for autonomous control methods to be used in space, they must exhibit safe behavior that demonstrates robustness to real world disturbances and uncertainty. In this paper, neural network controllers (NNCs) trained with reinforcement learning are used to solve an inspection task, which is a foundational capability for servicing missions. Run time assurance (RTA) is used to assure safety of the NNC in real time, enforcing several different constraints on position and velocity. The NNC and RTA are tested in the real world using unmanned aerial vehicles designed to emulate spacecraft dynamics. The results show this emulation is a useful demonstration of the capability of the NNC and RTA, and the algorithms demonstrate robustness to real world disturbances.

Key facts. Cited by 2 papers in the map (data through 14 Oct 2026). Placed in RL for robot navigation and UAV control, one of 15 directions in Deep reinforcement learning methods. Builds on 18 of its 39 references that are in the map. First posted on arXiv 10 May 2024.

Builds on

18 of 39 references.

References · 18

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2016OpenAI Gymcited by 1,736
  3. 2017Deep Reinforcement Learning that Matterscited by 754
  4. 2017Safe Reinforcement Learning via Shieldingcited by 449
  5. 2019Control Barrier Functions: Theory and Applicationscited by 372
  6. 2016Control Barrier Function Based Quadratic Programs for Safety Critical Systemscited by 287
  7. 2017A General Safety Framework for Learning-Based Control in Uncertain Robotic Systemscited by 163
  8. 2021Run Time Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systemscited by 27
  9. 2018Simulation to Scaled City: Zero-Shot Policy Transfer for Traffic Control via Autonomous Vehiclescited by 19
  10. 2021Safe Control Synthesis via Input Constrained Control Barrier Functionscited by 13
  11. 2023Deep Reinforcement Learning for Autonomous Spacecraft Inspection using Illuminationcited by 8
  12. 2021Guaranteed Safe Spacecraft Docking with Control Barrier Functionscited by 5
6 more
  1. 2022Ablation Study of How Run Time Assurance Impacts the Training and Performance of Reinforcement Learning Agentscited by 5
  2. 2023Run Time Assurance for Autonomous Spacecraft Inspectioncited by 5
  3. 2023Exposure-Based Multi-Agent Inspection of a Tumbling Target Using Deep Reinforcement Learningcited by 4
  4. 2019Composition of Safety Constraints For Fixed-Wing Collision Avoidance Amidst Limited Communicationscited by 2
  5. 2022Space Trusted Autonomy Readiness Levelscited by 2
  6. 2024Run Time Assurance for Simultaneous Constraint Satisfaction During Spacecraft Attitude Maneuveringcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 2.

2 papers.

  1. 2026Cognitively-Grounded On-Device Runtime Learning for Ground Robots in Unknown Physical Environmentscited by 0
  2. 2026SCoCaT: Success Conditioned Constrained Reinforcement Learning for Spacecraft Dockingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024Run Time Assured Reinforcement Learning for Six Degree-of-Freedom Spacecraft Inspection
  2. 2024Space Processor Computation Time Analysis for Reinforcement Learning and Run Time Assurance Control Policies
  3. 2025RL-AVIST: Reinforcement Learning for Autonomous Visual Inspection of Space Targets
  4. 2025Stability Analysis of Deep Reinforcement Learning for Multi-Agent Inspection in a Terrestrial Testbed
  5. 2026Meta-Reinforcement Learning for Robust and Non-greedy Control Barrier Functions in Spacecraft Proximity Operations
  6. 2025Assessing Autonomous Inspection Regimes: Active Versus Passive Satellite Inspection
  7. 2024Deep Reinforcement Learning for Scalable Multiagent Spacecraft Inspection
  8. 2025Close-Proximity Satellite Operations through Deep Reinforcement Learning and Terrestrial Testing Environments