MARIO-LAND: a multi arm robot for in-orbit operations at laboratory for autonomous navigation demonstrations

Abstract

With the rapid expansion of space activities, sustainability has become paramount to mitigating orbital debris and supporting long-term operations. One promising approach is the development of infrastructure and systems assembled directly in orbit. Enabled by advanced space robotics, In-Orbit Servicing, Assembly, and Manufacturing (ISAM) is central to realizing these capabilities. To ensure mission reliability and maximize performance, ISAM technologies require thorough ground-based validation within controlled laboratory environments before orbital deployment. To address this need, Cranfield University has developed a robotic platform—MARIO (Multi-Arm Robot for Inorbit Operations)—and a dedicated test facility—LAND (Laboratory for Autonomous Navigation Demonstrations)—to verify and validate ISAM hardware and control algorithms under space-analog conditions. MARIO is a modular and reconfigurable robotic system designed for in-space servicing and assembly operations. It comprises three 6-degree-of-freedom manipulator arms mounted on a pneumatic floating base that glides over a polished epoxy floor, recreating a frictionless microgravity-like environment. The control system is built on ROS2, providing a robust and flexible framework for real-time coordinated multi-arm manipulation, trajectory planning, and dynamic collision avoidance. Experimental tests have evaluated MARIO’s performance in representative ISAM tasks, including docking, undocking, anchored motion, and the assembly of modular structures. Results demonstrate reliable and repeatable performance, showcasing MARIO’s adaptability and capability to perform complex operations required in orbit. Data gathered from these experiments has been instrumental in refining control algorithms, improving locomotion stability, transition handling, and overall operational efficiency. The MARIO-LAND facility has proven effective for validating ISAM concepts and advancing ground-based testing methodologies. Future work will focus on enhancing system autonomy through advanced navigation, improved sensing, and refined control strategies. These developments aim to increase the Technology Readiness Level (TRL) of MARIO and support the broader goal of advancing autonomous robotics for sustainable and scalable space operations.