arXiv subjects

Brian Hardy

Publications and source records attributed to Brian Hardy.

2 recordsLinked to original sources

arXiv2026

A Practical Framework for Incremental Testing and Technology Maturation of Spacecraft Autonomy

This paper addresses the "trust gap" in deploying AI-enabled spacecraft autonomy through an integrated verification framework combining offline ground testing with online flight monitoring. The offline phase progresses systematically through simulation studies, processor-in-the-loop (PIL), hardware-in-the-loop (HIL), and robotic emulation testing, culminating in flight validation. The online phase employs AI watchdog systems for performance monitoring and safety guardrails for real-time constraint enforcement. Key contributions include: (1) systematic organization of verification techniques emphasizing closed-loop behavioral testing at each phase, (2) integration of AI watchdogs with runtime assurance, and (3) demonstration of the framework through a reinforcement learning-based attitude control case study. This approach integrates mature technologies to provide a viable pathway for safe deployment of AI-enabled autonomy in high-consequence space operations while addressing simulation-to-reality transfer challenges.

eess.SY↗

arXiv2026

Learning in Orbit: Onboard Training and Closed-Loop Attitude Control with a Thermal Segmentation Model on a Spacecraft

Deep space missions increasingly require spacecraft capable of autonomously operating in environments with communication delays and bandwidth limitations. A key enabler of such autonomy is the ability to run learning-based algorithms directly onboard. In this work, we present a flight deployment on a 6U CubeSat that demonstrates (1) onboard training and inference of a thermal segmentation model on an NVIDIA Jetson TX2 NX GPU in space and (2) closed-loop attitude control using the segmentation model on a real-time, thermal image feed to track the Moon. In addition to this demonstration, we implement ROS 2 Foxy as a data transport middleware and integrate an open-source file system that provides strong data integrity guarantees and self-healing features. Over the course of approximately one year, we performed 12 experiments on the spacecraft, advancing the state of the art in autonomous spacecraft systems by showing how modern learning-based pipelines, commercially available hardware, and open-source software can operate reliably under the compute and environmental constraints of Low Earth Orbit (LEO).

cs.RO↗