## 3 Space Robotics
Furthermore, it provides a solution very close to the global optimal one with a much lower computational time, which is compatible for real-time implementation. In the context of attitude control of satellites, [PERSON] et al. [21] propose a rototranslational control method for a spacecraft in low Earth orbit (LEO) using environmental forces and torques. Relative orbit and adaptive attitude controllers are integrated to perform roto-translational maneuvers for CubeSats equipped with a drag maneuvering device (DMD). The DMD enables the host CubeSat to modulate aerodynamic forces/torques and gravity gradient torque. Adaptive controllers for independent orbital and attitude maneuvers are revisited to account for translational attitude coupling while compensating for uncertainty in parameters such as atmospheric density, drag/lift coefficients, location of the center of mass (CoM) and inertia matrix. A simulation example of an along-track formation maneuver between two CubeSats with simultaneous attitude control, using only environmental forces and torques, is presented to validate the controller. Then, [PERSON] et al. [22] propose a safety-aware optimal attitude pointing method for low-thrust satellites in geostationary orbit. The aim of the study is to construct a novel geometric and reinforcement learning-based method to determine attitude guidance maneuvers that maintain equipment in safe and operational orientations throughout an attitude maneuver, in particular avoiding pointing sensitive equipment towards the Sun. The attitude trajectory is computed numerically using the geometric framing of [PERSON]'s maximum principle, applied to the vehicle kinematics using the global matrix Lie group representation on SO (3), and the angular velocities are shaped using free parameters. The values of these free parameters are determined by a reinforcement learning algorithm to avoid the forbidden areas, while maintaining the pointing in operational areas. The method is applied to a model geosynchronous satellite and demonstrated in a simulation. Finally, [PERSON] et al. [23] present the development, construction and testing of a new type of solar-thermal propulsion system which can be used for low LEO satellites attitude control. The service duration of an LEO satellite is limited by the amount of cold gas of the propulsion system that they carry onboard. In the case of the new type of solar-thermal propulsion system proposed in this work, the cold gas is first transferred from the main tank in a buffer tank that is placed in the focal line of a concave mirror. After the gas is heated by the focused solar light, it expands by opening the appropriate solenoid valve for the satellite attitude control. In this way, the service duration of LEO satellite on orbit can increase by 2.5 times compared with a classic cold gas propulsion system. The paper also presents the results achieved by carrying out tests for the hot gas propulsion system in a controlled environment. [PERSON] et al. [24] present a model-based slippage estimation method to enhance planetary rover localization using wheel odometry. An accurate knowledge of the trajectory of rovers is fundamental to accomplishing the scientific goals of planetary exploration missions. This work presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of rover wheels and of the terrain, the authors provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover trajectory across different terrain types and to determine the benefits of the proposed WO correction method. Finally, [PERSON] et al. [25] present the proof of concept of a quasi-passive resistive exosuit for space activities. Long-term exposure to microgravity, especially during orbital flights, contributes to muscle strength degradation and increases bone density loss.