Research Focus

Topics that DISCOWER is currently developing for Space and Subsea systems.

Safe Path Planning

Path planning algorithms for safe interaction and deployment.

Robust Control

Actuation resilient and difficult dynamics handling for reliable operations.

Load Transportation

Collaborative and single agent transportation methods for space and subsea.

Efficient Formation Flight

Communication efficient control methods, scalable for large swarms.

Autonomous Assembly

Combined load transportation and planning for large scale assembly.

Modular Robotics

Resilient and augmented autonomous systems via distributed control and modular systems.


Latest news about DISCOWER.

Space Robotics Lab at KTH ITRL

DISCOWER's Space Robotics laboratory at KTH ITRL.

United by Weightlessness

A WASP news article on DISCOWER.


Meet the team behind DISCOWER

Gunnar Tibert

Associate Professor

Huina Mao

Assistant Professor

Chelsea Sidrane


Pedro Roque

PhD Student

Joris Verhagen

PhD Student

David Dörner

PhD Student

Elias Krantz

PhD Student

Mati Vahs

PhD Student

Sujet Phodapol

MSc Student

Marita Georganta

MSc Student

About Us

Multi-agent robotic systems are the best candidates for the support of future space and underwater missions, due to their inherent resilience to individual agent failures, and application to a wider range of tasks by using heterogeneous elements. Underwater and space environments share a common effect over the systems navigating through them: perceived weightlessness, where bodies can float and, in some conditions, drift indefinitely. Weightless environments pose new control challenges, considering the complexity of safety during execution, as well as redundancy for an increased mission success rate. Automatic control methods designed for safety-critical multi-agent systems in weightless environments are, therefore, a necessity. The multi-agent approach in this project is expected to promote a symbiosis between astronauts/divers and robotic assistants in operations involving formations, collaborative load transportation, as well as safe human-robot interaction. DISCOWER is a step forward towards efficient and resilient exploration missions, yielding a strong impact in the sustainable discovery of both space and underwater systems and beyond.


In view of the experiences within space and subsea environments, this project aims at a bi-directional technology transfer, where agents operating in both environments benefit from one another’s technological breakthroughs. The chosen approach may lead to advancing distributed and safe control methods for multi-agent systems, tailored for safety-critical applications, and filling the research gap on control and planning for weightless environments.


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