Fundament Docking Problem

The Fundamental Docking Problem is to match the pose or the pose and velocity of a dock, which is accomplished in two sub-phases:

• Short-Range Positioning
• Final (Physical Docking)

The focus of this paper is on Short-Range Positioning, which can be achieved via:

• Sensing:
• Joint-Space
• Task-Space

and

• Path Planning:
• Visual Servoing
• Guidance Algorithms (Heuristic, Ad-Hoc)