Structural damage in modular spacecraft can disrupt mechanical and communication connectivity, reducing system capability. Existing approaches rely on redundancy or preplanned reconfiguration and do not enable autonomous repair under local information and physical constraints. We model the spacecraft as a lattice-constrained graph and introduce a fully decentralized, asynchronous stress-sharing repair policy inspired by biological wound healing: local distress signals guide surviving modules toward damaged regions to close fragmented gaps, after which each displaced module locally retraces its own motions to recover the pre-damage shape, using only local information and no absolute position sensing. We evaluate the policy in PyBullet rigid-body simulation across structures of up to 160 modules, three fault densities (10, 20, 30%), and random and localized damage. The policy consolidates the surviving modules into a single connected body: even in the most severe case tested, where 30% of modules fail at random, it gathers roughly 80% or more of the surviving modules into one connected component, and this fraction improves with assembly size, making the approach well suited as a swarm-scale repair policy for large modular spacecraft.
Multi-drone payload transportation has emerged as a promising research paradigm with potential applications in construction, logistics, and disaster response. However, the complex coupled dynamics among drones, cables, and payloads pose significant challenges, and existing approa…
Coordinating payload transfers between subsystems is a critical challenge in lifelong Multi-Agent Pickup and Delivery (MAPD). We study systems where agents are confined to separate regions and must exchange payloads through shared handover stations. These stations, equipped with…
Deploying drone swarms to track a dynamic target in cluttered environments presents severe computational and safety challenges. We propose MROPE, a hierarchical strategy that decouples the cooperative monitoring mission from strict local safety requirements. To overcome the compu…
Although world-action models (WAMs) enhance long-horizon robot control by predicting visual evolution before acting, long-horizon reliability demands repeated re-grounding in real observations--not recursive rollout. Existing WAMs address this by refreshing history or KV cache wi…
Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one and sewing them together in a straight line, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challeng…
Cable-Driven Parallel Robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given tr…