[2607.13444] Stress-Sharing for Decentralized Fault Repair in Modular Spacecraft

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arXiv:2607.13444 (cs)

[Submitted on 15 Jul 2026 (v1), last revised 21 Jul 2026 (this version, v2)]

Title:Stress-Sharing for Decentralized Fault Repair in Modular Spacecraft

Authors:Sidhdharth D. Sikka, Yue Shen, Shaoshuai Mou<br>View a PDF of the paper titled Stress-Sharing for Decentralized Fault Repair in Modular Spacecraft, by Sidhdharth D. Sikka and 2 other authors

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Abstract: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.

Comments:<br>6 pages, 3 figures. Submitted to the IEEE Robotics and Automation Letters

Subjects:

Robotics (cs.RO); Multiagent Systems (cs.MA); Systems and Control (eess.SY)

Cite as:<br>arXiv:2607.13444 [cs.RO]

(or<br>arXiv:2607.13444v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.13444

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arXiv-issued DOI via DataCite

Submission history<br>From: Sidhdharth Sikka [view email]<br>[v1]<br>Wed, 15 Jul 2026 05:02:00 UTC (2,533 KB)

[v2]<br>Tue, 21 Jul 2026 23:32:51 UTC (1,408 KB)

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