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Related Publications

These selected papers describe Basilisk’s architecture, modeling capabilities, and applications, including Vizard visualization and BSK-RL spacecraft autonomy. The selection includes research using these tools and dynamics formulations that underpin Basilisk models, such as the backsubstitution method. Papers are grouped by publication year, with the newest years first in each section. Conference and journal versions are listed separately when both are included.

This is not an exhaustive bibliography of research using Basilisk. Additional publications are available in Hanspeter Schaub’s journal paper list and conference paper list.

Journal Papers

  1. S. Buchner, J. Wood, G. Schauss, B. Bateman, H. Schaub, and A. Hayman. Benefits of Virtual Reality and 3D Visualizations for Remote Satellite Supervisory Control. Virtual Reality, Vol. 30, 2026, Article 8.

  2. L. Quevedo Mantovani and H. Schaub. Improving Robustness of Autonomous Earth-Observing Spacecraft Using Training Environment Enhancements. Journal of Aerospace Information Systems, Vol. 23, No. 3, March 2026, pp. 293–304.

  3. R. Calaon, C. Allard, and H. Schaub. Momentum Management of a Spacecraft Equipped with a Dual-Gimbaled Electric Thruster and Rotating Solar Arrays. The Journal of the Astronautical Sciences, Vol. 73, 2026, Article 47.

  4. S. L. Buchner, J. Wood, G. Schauss, B. C. Bateman, H. Schaub, and A. P. A. Hayman. Train Like You’re There: Use of Immersive Visualizations While Training to Operate a Satellite Improves Outcomes in Operations. International Journal of Human-Computer Studies, Vol. 216, 2026, Article 103895.

  5. L. Kiner, H. Schaub, and C. Allard. Spacecraft Backsubstitution Dynamics with General Multibody Prescribed Subcomponents. Journal of Aerospace Information Systems, Vol. 22, No. 8, August 2025, pp. 703–715.

  6. S. L. Buchner, A. Rindfuss, J. Wood, H. Schaub, and A. P. Hayman. Impacts of 3D Visualizations and Virtual Reality in Display Designs for Remote Monitoring of Satellite Operations. Frontiers in Virtual Reality, Vol. 6, February 2025, Article 1487281.

  7. M. A. Stephenson, L. Quevedo Mantovani, and H. Schaub. Learning Policies for Autonomous Earth-Observing Satellite Scheduling over Semi-Markov Decision Processes. Journal of Aerospace Information Systems, Vol. 22, No. 9, September 2025.

  8. M. A. Stephenson and H. Schaub. Optimal Agile Satellite Target Scheduling with Learned Dynamics. Journal of Spacecraft and Rockets, Vol. 62, No. 3, May–June 2025, pp. 793–804.

  9. J. Vaz Carneiro, C. Allard, and H. Schaub. General Dynamics for Single- and Dual-Axis Rotating Rigid Spacecraft Components. Journal of Spacecraft and Rockets, Vol. 61, No. 4, July–August 2024, pp. 1099–1113.

  10. J. Vaz Carneiro and H. Schaub. Scalable Architecture for Rapid Setup and Execution of Multi-Satellite Simulations. Advances in Space Research, Vol. 73, No. 11, June 2024, pp. 5416–5425.

  11. A. Herrmann and H. Schaub. Autonomous Small Body Science Operations Using Reinforcement Learning. Journal of Aerospace Information Systems, Vol. 21, No. 10, October 2024, pp. 865–884.

  12. A. Herrmann, M. A. Stephenson, and H. Schaub. Single-Agent Reinforcement Learning for Scalable Earth-Observing Satellite Constellation Operations. Journal of Spacecraft and Rockets, Vol. 61, No. 1, January–February 2024, pp. 114–132.

  13. W. Retagne, J. Dauer, and G. Waxenegger-Wilfing. Adaptive Satellite Attitude Control for Varying Masses Using Deep Reinforcement Learning. Frontiers in Robotics and AI, Vol. 11, 2024, Article 1402846.

  14. A. Herrmann and H. Schaub. Reinforcement Learning for the Agile Earth-Observing Satellite Scheduling Problem. IEEE Transactions on Aerospace and Electronic Systems, Vol. 59, No. 5, October 2023, pp. 5235–5247.

  15. R. Calaon, H. Schaub, and M. A. Trowbridge. Basilisk-Based Benchmark Analysis of Different Constrained Attitude Dynamics Planners. Journal of Aerospace Information Systems, Vol. 20, No. 2, February 2023, pp. 60–69.

  16. A. Herrmann and H. Schaub. A Comparative Analysis of Reinforcement Learning Algorithms for Earth-Observing Satellite Scheduling. Frontiers in Space Technologies, 2023, Article 1263489.

  17. J. C. Sanchez and H. Schaub. Simultaneous Navigation and Mascon Gravity Estimation Around Small Bodies. Acta Astronautica, Vol. 213, December 2023, pp. 725–740.

  18. A. Harris, T. Valade, T. Teil, and H. Schaub. Generation of Spacecraft Operations Procedures Using Deep Reinforcement Learning. Journal of Spacecraft and Rockets, Vol. 59, No. 2, March–April 2022, pp. 611–626.

  19. T. Teil, H. Schaub, and D. Kubitschek. Centroid and Apparent Diameter Optical Navigation on Mars Orbit. Journal of Spacecraft and Rockets, Vol. 58, No. 4, July–August 2021, pp. 1107–1119.

  20. M. Cols Margenet, P. Kenneally, H. Schaub, and S. Piggott. Distributed Simulation of Heterogeneous Mission Subsystems Through the Black Lion Framework. Journal of Aerospace Information Systems, Vol. 18, No. 9, September 2021, pp. 596–604.

  21. M. Cols Margenet, H. Schaub, and S. Piggott. Flight Software Development, Migration, and Testing in Desktop and Embedded Environments. Journal of Aerospace Information Systems, Vol. 18, No. 4, April 2021, pp. 157–174.

  22. P. Kenneally, H. Schaub, and S. Tanygin. Open GL–Open CL Solar Radiation Pressure Modeling with Time-Varying Spacecraft Geometries. Journal of Aerospace Information Systems, Vol. 18, No. 5, May 2021, pp. 307–321.

  23. T. Teil, S. Bateman, and H. Schaub. Closed-Loop Software Architecture for Spacecraft Optical Navigation and Control Development. The Journal of the Astronautical Sciences, Vol. 67, December 2020, pp. 1575–1599.

  24. P. W. Kenneally, S. Piggott, and H. Schaub. Basilisk: A Flexible, Scalable and Modular Astrodynamics Simulation Framework. Journal of Aerospace Information Systems, Vol. 17, No. 9, September 2020, pp. 496–507.

  25. T. Teil, H. Schaub, and S. Piggott. Removing Rate Unobservability in Sun-Heading Filters Without Rate Gyroscopes. Journal of Spacecraft and Rockets, Vol. 57, No. 5, September–October 2020, pp. 918–929.

  26. C. Allard, M. Diaz Ramos, and H. Schaub. Computational Performance of Complex Spacecraft Simulations Using Back-Substitution. Journal of Aerospace Information Systems, Vol. 16, No. 10, October 2019, pp. 427–436.

  27. C. Allard, M. Diaz Ramos, H. Schaub, P. Kenneally, and S. Piggott. Modular Software Architecture for Fully Coupled Spacecraft Simulations. Journal of Aerospace Information Systems, Vol. 15, No. 12, December 2018, pp. 670–683.

  28. M. Cols-Margenet, H. Schaub, and S. Piggott. Modular Attitude Guidance: Generating Rotational Reference Motions for Distinct Mission Profiles. Journal of Aerospace Information Systems, Vol. 15, No. 6, June 2018, pp. 335–352.

  29. P. Panicucci, C. Allard, and H. Schaub. Spacecraft Dynamics Employing a General Multi-tank and Multi-thruster Mass Depletion Formulation. The Journal of the Astronautical Sciences, Vol. 65, 2018, pp. 423–447.

  30. H. Schaub and S. Piggott. Speed-Constrained Three-Axes Attitude Control Using Kinematic Steering. Acta Astronautica, Vol. 147, June 2018, pp. 1–8.

Conference Papers

  1. J. Garcia-Bonilla and H. Schaub. Modeling Stochastic Process Uncertainties in Spacecraft Dynamics: A New Capability in the Basilisk Framework. IEEE Aerospace Conference, Big Sky, Montana, March 7–14, 2026.

  2. T. Gill, G. Furlich, and N. Ahmed. Multi-Phase Guidance and Control for Small Satellite Docking via Deep Reinforcement Learning. Small Satellite Conference, Salt Lake City, Utah, 2026. Paper SSC26-P1-48.

  3. L. Kiner and H. Schaub. Spacecraft Backsubstitution Dynamics for Generalized Rigid Body Component Motion. AAS/AIAA Astrodynamics Specialist Conference, Whistler, Canada, July 26–30, 2026. Paper AAS 26-796.

  4. L. Kiner and H. Schaub. Generalized Backsubstitution Dynamics for Branching of Free Rigid Bodies Attached to Prescribed Components. AAS Rocky Mountain Guidance, Navigation and Control Conference, Breckenridge, Colorado, January 31–February 4, 2026. Paper AAS 26-113.

  5. J. Garcia-Bonilla, W. Schwend, and H. Schaub. Simulation of Generally Articulated Spacecraft for GN&C Algorithm Design and Validation. AAS Rocky Mountain Guidance, Navigation and Control Conference, Breckenridge, Colorado, January 31–February 4, 2026. Paper AAS 26-078.

  6. Y. Nagano and H. Schaub. Autonomous Task Scheduling for Earth-Observing Satellites Tracking Moving Targets with Low Maneuverability. AIAA SciTech Forum, Orlando, Florida, January 12–16, 2026.

  7. M. Stephenson and H. Schaub. Autonomous Tip-and-Cue Earth-Observing Constellation Tasking with Reinforcement Learning. IEEE Aerospace Conference, Big Sky, Montana, March 7–14, 2026.

  8. J. Garcia-Bonilla and H. Schaub. A Message-Passing Simulation Framework for Generally Articulated Spacecraft Dynamics. AAS/AIAA Astrodynamics Specialist Conference, Boston, Massachusetts, August 10–14, 2025.

  9. C. Whitney and J. Melville. Toward Trusted Onboard AI: Advancing Small Satellite Operations using Reinforcement Learning. 39th Annual Small Satellite Conference, 2025. Paper SSC25-P1-05; public preprint on arXiv.

  10. E. Coleman. Enhancing Spacecraft Trajectory Optimization Using LSTM-Augmented Reinforcement Learning. MODSIM World, 2025.

  11. L. Kiner and H. Schaub. Backsubstitution Method for Prescribed Motion Actuators with Attached Dynamic Sub-Components. AAS/AIAA Astrodynamics Specialist Conference, Boston, Massachusetts, August 10–14, 2025. Paper AAS 25-790.

  12. A. Morell and H. Schaub. Expanded Backsubstitution Dynamics Modeling for Branched Force and Torque Based Spacecraft Components. AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii, January 19–23, 2025. Paper AAS 25-185.

  13. J. Vaz Carneiro and H. Schaub. Spacecraft Dynamics with the Backsubstitution Method: Survey and Capabilities. AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii, January 19–23, 2025. Paper AAS 25-232.

  14. M. Stephenson, D. Huterer Prats, and H. Schaub. Autonomous Satellite Inspection in Low Earth Orbit with Optimization-Based Safety Guarantees. International Workshop on Planning and Scheduling for Space, Toulouse, France, April 28–30, 2025.

  15. A. Cheval and H. Schaub. Autonomous Strip Imaging Task Scheduling in Super-Agile Satellites Using Reinforcement Learning. AAS/AIAA Astrodynamics Specialist Conference, Boston, Massachusetts, August 10–14, 2025.

  16. M. Mercurio, C. W. T. Roscoe, and J. J. Westphal. A Multi-Mission Flight Software Architecture for Autonomous Rendezvous, Proximity Operations, and Docking. 47th Annual AAS Guidance and Control Conference, Breckenridge, Colorado, January 31–February 5, 2025. Paper AAS 25-094. Conference program (bibliographic entry; not the full paper).

  17. M. A. Stephenson and H. Schaub. BSK-RL: Modular, High-Fidelity Reinforcement Learning Environments for Spacecraft Tasking. 75th International Astronautical Congress, Milan, Italy, October 14–18, 2024. Paper IAC-24-D1.2.4.

  18. A. Morell and H. Schaub. Back-Substitution Based Spacecraft Dynamics Modeling with Selective Configuration Space Branching. AAS/AIAA Astrodynamics Specialist Conference, Broomfield, Colorado, August 11–15, 2024. Paper AAS 24-361.

  19. A. Morell, J. Vaz Carneiro, L. Kiner, and H. Schaub. Multi-Arm Post-Docking Spacecraft Dynamics Using Penalty Methods. AIAA SciTech Forum, Orlando, Florida, January 8–12, 2024.

  20. L. Kiner, C. Allard, and H. Schaub. Prescribed Motion Dynamics for Spacecraft Solar Array Deployment. AAS Rocky Mountain Guidance, Navigation and Control Conference, Breckenridge, Colorado, February 2–7, 2024. Paper AAS 24-123.

  21. R. Reed, H. Schaub, and M. Lahijanian. Shielded Deep Reinforcement Learning for Complex Spacecraft Tasking. American Control Conference, Toronto, Canada, July 8–12, 2024.

  22. J. Vaz Carneiro, A. Morell, and H. Schaub. Post-Docking Spacecraft Dynamics Using Modular Baumgarte Stabilization. AAS/AIAA Astrodynamics Specialist Conference, Big Sky, Montana, August 13–17, 2023. Paper AAS 23-148.

  23. G. Bascom, L. Kiner, and H. Schaub. Spacecraft Dynamics Analysis Using Point-Mass Model of Human Motion. AAS/AIAA Space Flight Mechanics Meeting, Austin, Texas, January 15–19, 2023. Paper AAS 23-163.

  24. R. Calaon, M. A. Trowbridge, and H. Schaub. A Basilisk-Based Benchmark Analysis of Different Constrained Attitude Dynamics Planners. AIAA SciTech Forum, San Diego, California, January 3–7, 2022.

  25. G. Bascom and H. Schaub. Modular Dynamic Modeling of Hinged Solar Panel Deployments. AAS/AIAA Astrodynamics Specialist Conference, Charlotte, North Carolina, August 7–10, 2022. Paper AAS 22-725.

  26. J. Vaz Carneiro, H. Schaub, M. Lahijanian, K. Borozdin, and K. Lang. Machine Learning for Reaction Wheel Fault Detection Using Simulated Telemetry Data. AIAA SciTech Forum, San Diego, California, January 3–7, 2022.

  27. S. J. K. Carnahan and H. Schaub. A New Messaging System for Basilisk. AAS Guidance, Navigation and Control Conference, Breckenridge, Colorado, January 30–February 5, 2020.

  28. M. Cols Margenet, H. Schaub, and S. Piggott. Avionics Hardware Modeling and Embedded Flight Software Testing in an Emulated Flat-Sat. AAS Guidance, Navigation and Control Conference, Breckenridge, Colorado, January 30–February 5, 2020.

  29. S. J. K. Carnahan and H. Schaub. Simultaneous and Distinct Visible and Thermal Radiation Pressure Dynamics. AAS Guidance, Navigation and Control Conference, Breckenridge, Colorado, January 30–February 5, 2020.

  30. S. Van Overeem and H. Schaub. Small Satellite Formation Flying Application Using the Basilisk Astrodynamics Software Architecture. International Workshop on Satellite Constellations and Formation Flying, Glasgow, Scotland, July 2019.

  31. M. Cols Margenet, H. Schaub, and S. Piggott. An End-to-End FSW Development Approach Using MicroPython and the Basilisk Software Testbed. DASIA (Data Systems in Aerospace), Torremolinos, Spain, June 4–6, 2019.

  32. S. J. K. Carnahan, H. Schaub, and B. Lane. Impact of Internal Heating on Spacecraft Thermal Signature. AAS/AIAA Space Flight Mechanics Meeting, Maui, Hawaii, January 13–17, 2019.

  33. C. Allard, S. Piggott, and H. Schaub. Impulsive Thruster Based Attitude Stability Analysis of Spacecraft with Flexible Solar Arrays. AAS Guidance and Control Conference, Breckenridge, CO, February 2–7, 2018.

  34. P. Kenneally and H. Schaub. Fast Spacecraft Solar Radiation Pressure Modeling By Ray-Tracing On Graphic Processing Unit. AAS Guidance and Control Conference, Breckenridge, CO, February 2–7, 2018.

  35. M. Cols Margenet, P. Kenneally and H. Schaub. Software Simulator for Heterogeneous Spacecraft and Mission Components. AAS Guidance and Control Conference, Breckenridge, CO, February 2–7, 2018.

  36. J. Wood, M. Cols Margenet, P. Kenneally, H. Schaub and S. Piggott. Flexible Basilisk Astrodynamics Visualization Software Using the Unity Rendering Engine. AAS Guidance and Control Conference, Breckenridge, CO, February 2–7, 2018.

  37. T. Teil, H. Schaub and S. Piggott. Comparing Coarse Sun Sensor Based Sequential Sun-Heading Filters. AAS Guidance and Control Conference, Breckenridge, CO, February 2–7, 2018.

  38. C. Allard, M. Diaz Ramos, P. Kenneally, H. Schaub and S. Piggott. Modular Software Architecture for Fully-Coupled Spacecraft Simulations. AAS Guidance and Control Conference, Breckenridge, CO, February 2–7, 2018.

  39. P. Cappuccio, C. Allard, and H. Schaub. Fully-Coupled Spherical Modular Pendulum Model to Simulate Spacecraft Propellant Slosh. AAS/AIAA Astrodynamics Specialist Conference, Snowbird, Utah, August 19–23, 2018. Paper AAS 18-224.

  40. J. Alcorn, C. Allard and H. Schaub. Fully-Coupled Dynamical Jitter Modeling Of Variable-Speed Control Moment Gyroscopes. AAS/AIAA Astrodynamics Specialist Conference, Stevenson, WA, August 20–24, 2017.

  41. M. Cols Margenet, H. Schaub, and S. Piggott. Modular Platform for Hardware-in-the-Loop Testing of Autonomous Flight Algorithms. International Symposium on Space Flight Dynamics, Himegin Hall, Matsuyama-Ehime, Japan, June 3–9, 2017.

  42. P. Panicucci, C. Allard and H. Schaub. Spacecraft Dynamics Employing a General Multi-tank and Multi-thruster Mass Depletion Formulation. AAS Guidance, Navigation and Control Conference, Breckenridge, Feb. 2–8, 2017.

  43. P. Kenneally and H. Schaub. Modeling Of Solar Radiation Pressure and Self-Shadowing Using Graphics Processing Unit. AAS Guidance, Navigation and Control Conference, Breckenridge, Feb. 2–8, 2017.

  44. M. Cols Margenet, A. Harris, and H. Schaub. Software Architecture for Deep-Space Navigation Filter Development. 68th International Astronautical Congress, Adelaide, Australia, September 25–29, 2017. Paper IAC-17,C1,IP,22,x38512.

  45. S. Piggott, J. Alcorn, M. Cols Margenet, P. Kenneally and H. Schaub. Flight Software Development Through Python. 2016 Workshop on Spacecraft Flight Software, JPL, California, Dec. 13–15 2016.

  46. J. Alcorn, H. Schaub, S. Piggott and D. Kubitschek. Simulating Attitude Actuation Options Using the Basilisk Astrodynamics Software Architecture. 67th International Astronautical Congress, Guadalajara, Mexico, September 26–30, 2016.

  47. C. Allard, M. Diaz Ramos and H. Schaub. Spacecraft Dynamics Integrating Hinged Solar Panels and Lumped-Mass Fuel Slosh Model. AIAA/AAS Astrodynamics Specialist Conference, Long Beach, California, September 12–15, 2016.

  48. J. Alcorn, C. Allard and H. Schaub. Fully-Coupled Dynamical Modeling of a Rigid Spacecraft with Imbalanced Reaction Wheels. AIAA/AAS Astrodynamics Specialist Conference, Long Beach, California, September 12–15, 2016.

  49. M. Cols Margenet, H. Schaub and S. Piggott. Modular Attitude Guidance Development using the Basilisk Software Framework. AIAA/AAS Astrodynamics Specialist Conference, Long Beach, California, September 12–15, 2016.

  50. P. Kenneally and H. Schaub. High Geometric Fidelity Modeling Of Solar Radiation Pressure Using Graphics Processing Unit. AAS Spaceflight Mechanics Meeting, Napa Valley, California, February 14–18, 2016. Paper No. 16-500.

  51. C. Allard, H. Schaub, and S. Piggott. General Hinged Solar Panel Dynamics Approximating First-Order Spacecraft Flexing. AAS GN&C Conference, Breckenridge, Colorado, February 5–10, 2016.

  52. J. Alcorn, H. Schaub, S. Piggott. Attitude Control Performance Analysis Using Discretized Thruster With Residual Tracking. AAS GN&C Conference, Breckenridge, Colorado, February 5–10, 2016.

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