Abstract. The Cognitive Controller (CoCo) is a new, three-tiered control architecture for autonomous agents that combines reactive and deliberative components. A behaviour-based reactive module ensures that the agent can gracefully handle the various real-time challenges of its environment, while a logic-based deliberative module endows the agent with the ability to "think ahead", performing more complex high-level tasks that require planning. A plan execution and monitoring module establishes an advisor-client relationship between the deliberative and reactive modules. We demonstrate CoCo in the context of space robotics-specifically the control of a vision-guided robotic manipulator that can autonomously capture a free-flying satellite in the presence of unforeseen mission anomalies.

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After suffering the failure of its magnetometer and all torque rods, the NEOSSat microsatellite has recovered operations through the use of novel attitude determination and control algorithms that utilize a minimal sensor and actuator suite. Following recovery, NEOSSat has regained the performance necessary to accomplish its near-earth object space surveillance mission with only a modest duty cycle reduction and adjustments to spacecraft operation planning. This paper provides a description of NEOSSat, its hardware failures, and discusses the development and implementation of the innovative flight software upgrades that facilitated its recovery. The paper expands the body of knowledge in GPS-based attitude determination and momentum management strategies for satellites.

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