Test Bench for Robotics and Autonomy: Overview and Test Results

In this paper, the TAS-I (Thales Alenia Space-Italy) Test Bench for Robotics and Autonomy (TBRA) is presented. It is based on a flexible and modular software architecture (Framework Engine), in which each functional module (representing the GNC subsystems) implements a key functionality of the GNC (Guidance Navigation and Control). Modules communicate by means of standardised interfaces designed for exchange of necessary information among the modules composing the entire system. This approach permits the interchange-ability of each subsystem without affecting the overall functionalities of the GNC system. In this paper, the TBRA system, together with the implemented functional modules will be described. Tests results will be reported and future development will be discussed.