Journal-First: Formal Modelling and Runtime Verification of Autonomous Grasping for Active Debris Removal

Verifying that autonomous space robotic software behaves correctly is crucial, particularly since such software is often mission-critical, that is, a software failure can lead to mission failure. In this paper, we describe the process that we used to verify the autonomous grasp generation and capturing operation of a spent rocket stage in space. This paper summarises a publication by the same authors in the journal Frontiers in Robotics and AI (2022) which harnesses multiple formal and non-formal methods to verify an autonomous grasping system.