Cooperative Object Transportation

Project Type: Research

About • Goal • Vision

Implementation of Parallel Island Model Genetic Algorithm for $N$ Spacecraft agents to cooperatively manipulate a Rigid Payload from a starting position to a final state in a decentralised manner while minimising total costs

Goal: Implement the algorithm and decentralised control process

Vision: Provide foundation for decentralised cooperative object manipulation in space.

Project Roadmap

1. Implement the agent and payload dynamics
1. Animate the motion of the agent and the payload for better visualisation
2. Implement inner control optimisation code
2. Test with Deterministic cases and known scenarios
3. Implement Parallel Island Model
3. Write blog post about the implementation
4. Implement the communication layer and consensus
5. Compare with prior centralised approach and NLP benchmarks
6. Perform parametric sensitivity studies
7. Provide Analytical guarantee of Genetic Diversity

How to Contribute Contributor workflow

1. Fork → `feat/` branch  
2. Pass tests: `pytest tests/`  
3. Update [CONTRIBUTING.md](CONTRIBUTING.md)
📜 License & Attribution
(Mandatory section)
Citation:

bibtex
@software{Manifold_UrbanGeo_2025,
  author = {Manifold Research Group},
  title = {{ProjectName}: Geospatial analysis toolkit},
  url = {https://github.com/ManifoldRG/project},
  version = {0.1.0},
  year = {2025}
}
License: MIT
Acknowledgements: NSF Award #203445 • City of Seattle Open Data Portal