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Thursday, June 27, 2024
Workshop on Exploring the Lunar Frontier Leveraging Robotic Missions


  • Kazuya Yoshida (Professor, Tohoku University, Japan)

  • Genya Ishigami (Associate Professor, Keio University, Japan)

  • Amir Rahmani (Group Supervisor, NASA Jet Propulsion Laboratory, U.S.A.)

  • Armin Wedler (Research Scientist, German Space Agency, DLR)

  • Kentaro Uno (Assistant Professor, Tohoku University, Japan)


The allure of lunar exploration has captured global attention once again. As discussions about the possibility of humans returning to the Moon intensify, the indispensable role of robotics in this endeavor becomes increasingly apparent. Robots are poised to play a pivotal role in exploring uncharted territories of the lunar surface, uncovering and leveraging local resources, and facilitating the construction of future human habitats.
This workshop will explore various robotic mission scenarios pertinent to lunar exploration. Participants will exchange perspectives and insights on the challenges and opportunities of deploying robots for lunar missions. Moreover, we will discuss crucial issues surrounding robot benchmarking, aiming to foster collaborative efforts within the space robotics research community

Program (tentative)

09:00 - 09:15     Greetings, Opening Remarks - Kazuya Yoshida
09:15 - 09:35     Genya Ishigami – Paving the Moon: Robotic Strategies for Sustainable Lunar Construction and Habitation
09:35 - 10:05    Amir Rahmani – Multi-Robot Planetary Exploration: A Lunar Technology Maturation Roadmap
10:05 - 10:40    Poster Teaser
10:40 - 11:20    Coffee Break & Interactive Poster Session
11:20 - 11:50    Greenfield Trinh – Robotic Assembly of Modular Infrastructure for Sustainable Lunar Presence
11:50 - 12:20    Armin Wedler – DLR's Advanced Robotic Technology for Future Lunar Missions
12:20 - 12:55    Short Panel Discussion
12:55 - 13:00    Wrap up and Closing Remarks


Accepted Posters

  • Jumping and Attitude Control of a Limbed Robot in Microgravity. Philip Arm, Valerio Schelbert, Fabio Bühler, Moriz Berclaz, Jorit Geurts, Alexander, Spiridonov, Fabian Tischhauser, Hendrik Kolvenbach, and Marco Hutter.

  • PX4Space: PX4 for Spacecraft and Space Robotics. Pedro Roque, Elias Krantz, Jaeyoung Lim, Christer Fuglesang, Roland Siegwart, Dimos V. Dimarogonas.

  • Preliminary Results of Simulating Sliding-based Locomotion for Planetary Exploration in Craters, Victor Barasuol, Paolo Arena, Luca Patane, Giulio Turrisi and Claudio Semini.

  • Towards Self-Assembling of Modular Robots for the Human Outpost Construction on the Moon, Gustavo H. Diaz, Kentaro Uno, Shreya Santra, and Kazuya Yoshida.

  • Multi-View World Models for Visual Robotic Assembly in Space, Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez, Carol Martinez.

  • Enhanced Lunar Mission Control System for Supervising and Controlling Unmanned Rovers with eXtended Reality (ELYSIUM-XR), Alexandre Frantz, Sofia Coloma Chacon, Miguel Olivares-Mendez.

  • Performance comparison of ROS2 Middlewares for Multi-Robot mesh Networks in Planetary Exploration, Loïck Pierre Chovet, Gabriel Manuel Garcia, Abhishek Bera, Antoine Richard, Miguel Olivares-Mendez.

  • Photogrammetry of #TheMoon, Antoine Richard, Frank Koch, Lasse Hansen, Junnosuke Kamohara, Dave Van Der Meer, Rico Cilliers, Jandre Van Heerden, Greg Zaal, Miguel Olivares Mendez.

  • Lens Flare Removal for Lunar-SLAM, Dave van der Meer, Alejandro Serna Medina, Miguel Olivares-Mendez.

  • PLUME: Procedural Layer Underground Modeling Engine, Gabriel Manuel Garcia, Antoine Richard, Miguel Olivares-Mendez.

Workshop on Advances in Orbital Robotics: In Orbit Manipulation, Servicing, and Assembly


  • Maximo A. Roa (German Aerospace Center – DLR)

  • Carol Martinez Luna (University of Luxembourg)


Robotic manipulation is enabling new frontiers for servicing and assembly directly in space. On the one hand, commercial perspectives are increasingly interesting for providing services in space for repairing, upgrading or extending the life of space assets. On the other hand, robotic manipulation technology will enable the construction of large scale structures (space telescopes, commercial platforms, transportation hubs) directly in orbit, at significantly reduced cost.
This workshop will bring together researchers and practitioners to identify the frontiers of robotic manipulation in space. The workshop will feature invited talks by prominent speakers and poster/video presentations from the community, with emphasis on ongoing developments for assembly and servicing demonstrations.


09:00 - 09:20     Introduction
09:20 - 09:45     Gwenedelle Aridon – Airbus, Robotics for Space is Enabling a New Ecosystem
09:45 - 10:10     Jaroslaw Jaworski - Redwire
10:10 - 10:35     Marco de Stefano – DLR, Control of Orbital Manipulators and On-ground Validation of On-Orbit Robotic Missions
10:35 - 11:00     Poster Teaser
11:00 - 11:30     Coffee break and posters
11:30 - 11:55     Vincent Dubanchet- TASF, EROSS IOD: The European Robotic Orbital Support Servicing Project
11:55 - 12:20     Carl Glen Henshaw – USNRL, NRL Space Robotics – Current Activities
12:20 - 12:45     Sabrina Andiapanne – Clearspace, Orbital Servicing: The Next Generation of Space Activities
12:45 - 13:00     Wrap up, closing remarks

Accepted Posters

  • Enhanced Spacecraft Surface Damage Detection Using Generative Adversarial Networks and YOLO Target Recognition. Liu Chunwu, Wang Zhaokui

  • Extensible Hook System for Rendesvouz and Docking of a Cubesat Swarm. Carlos J. Perez-del-Pulgar, Antonio Lopez Palomeque, Jesus Juli and Matteo Madi

  • Whole-Body Motion Control in Orbital Scenarios through Centroidal Momentum Conservation. Enrico Mingo Hoffman, Antonio Paolillo, Jean-Baptiste Mouret and Serena Ivaldi

  • Leveraging Neural Radiance Fields for Pose Estimation of an Unknown Space Object during Proximity Operations. Antoine Legrand, Renaud Detry and Christophe De Vleeschouwer I

  • An End-to-End Deep Reinforcement Learning Framework for Grasping Free-Floating Moving Objects. Bahador Beigomi, Zheng H. Zhu

  • Power & Data Enabled End-Effector for Rapid Tool-Changing. Charlotte Morrison, Dylan Pendlebury

  • STARFAB: An Automated Space Warehouse Concept and Ecosystem for In-Space Operation and Service Activities. Mathieu Deremetz, Pierre Dandre, Raphael Boissonnade, Elisa Ballatore, Nicola Guercio, Come Berger, Vivien Croes, Maxence Debroise, Manon Wouters, Jan Behling, Frederic Veit, Niklas Ullrich, Mark Post, Pierre Letier, Jeremi Gancet

  • Advancements in AI-Driven Anomaly Detection and Recovery for Autonomous Spacecraft. Oluwafisayomi Banjoko

  • Supervisory Control via AR for Robotic Manipulation: An In-Space Assembly Use Case. Ioannis Marios Stavropoulos1, Carol Martinez, Daniel J. Finnegan, and Juan David Hernandez

  • Time-Delay Mitigation via Passivity Monitoring and Force Compensation During On-Orbit Emulation. Mohatashem Reyaz Makhdoomi, Baris Yalcin, Juan Sandoval, Miguel A. Olivares-Mendez, Carol Martinez 

  • Deep Reinforcement Learning for Intelligent Floating-platforms Trajectories, Matteo El Hariry, Antoine Richard, Vivek Muralldharan, Matthieu Geist, Miguel Olivares Mendez

  • Towards Multi-Modal Sensing for Space Robotic Manipulation: Exploring the GelSight Vision-Based Tactile Sensor, João Pardal, Barıs ̧ Can Yalc ̧ın, Miguel Olivares-Mendez, and Carol Martinez

  • Pushing the Limits of In-Situ-Resource-Utilisation for In-Orbit Activities: Solar for Ice to Thrust - S4I2T, Barıs. Can Yalc.ın, Chiara Manfletti, Philipp Reiss, Vanya Buchova, Miguel Olivares-Mendez

  • PX4Space: PX4 for Spacecraft and Space Robotics. Pedro Roque, Elias Krantz, Jaeyoung Lim, Dimos V. Dimarogonas, Christer Fuglesang, Roland Siegwart 

  • New Challenges and Opportunities of Passive Deorbiting Systems: Emulation of Micro-Gravity for the ESA-Dragliner, Barıs. Can Yalc.ın, Pyry Peitso, Pekka Janhunen, Maria Genzer, Perttu Yli-Opas, Hannah Laurila, Maria Hieta, Harri Haukka, David Macieira, Petri Toivanen, Jouni Polkko, Pulmu PietikÅNainen, Hannu Hallamaa Jari Sinkko and Miguel Olivares-Mendez

Paper submissions to both workshops will be reviewed as soon as they are received. If accepted, authors will be invited to present a poster of size no larger than A0 (841mm wide × 1189mm high). No specific template for the poster is required. iSpaRo 2024 logos can be found here.

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