模块化航天器受损后，可自主修复碎片化结构。
Stress-Sharing for Decentralized Fault Repair in Modular Spacecraft
- 基于生物愈合机制，模块通过局部信号自发聚集修复
- 30%随机损坏下仍能聚合80%以上幸存模块成整体
- 无需全局定位，适合大规模模块化航天器集群
模块化航天器的结构损伤会破坏机械与通信连接，降低系统能力。现有方法依赖冗余或预规划重构，无法在局部信息和物理约束下实现自主修复。本文将航天器建模为格子约束图，提出一种完全去中心化、异步的应力共享修复策略，受生物伤口愈合启发：局部故障信号引导存活模块向损伤区域聚集以闭合断点，随后每个移动模块仅凭本地信息回溯自身运动，恢复损伤前的形态。我们在PyBullet刚体仿真中评估该策略，覆盖最多160个模块、三种故障密度（10%、20%、30%）及随机与局部损伤情形。结果表明，该策略能将存活模块整合为单一连通体：即使在最严苛的30%随机失效情况下，仍可聚合至少80%的幸存模块形成连通组件，且该比例随装配规模增大而提升，证明其适合作为大型模块化航天器的群集级修复方案。
原文摘要 · Abstract (English)
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.
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