  The science and origins of asteroids is deemed high priority in the Planetary
Science Decadal Survey. Major scientific goals for the study of planetesimals
are to decipher geological processes in SSSBs not determinable from
investigation via in-situ experimentation, and to understand how planetesimals
contribute to the formation of planets. Ground based observations are not
sufficient to examine SSSBs, as they are only able to measure what is on the
surface of the body; however, in-situ analysis allows for further, close up
investigation as to the surface characteristics and the inner composure of the
body. To this end, the Asteroid Mobile Imager and Geologic Observer (AMIGO) an
autonomous semi-inflatable robot will operate in a swarm to efficiently
characterize the surface of an asteroid. The stowed package is 10x10x10 cm
(equivalent to a 1U CubeSat) that deploys an inflatable sphere of ~1m in
diameter. Three mobility modes are identified and designed: ballistic hopping,
rotation during hops, and up-righting maneuvers. Ballistic hops provide the
AMIGO robot the ability to explore a larger portion of the asteroid's surface
to sample a larger area than a stationary lander. Rotation during the hop
entails attitude control of the robot, utilizing propulsion and reaction wheel
actuation. In the event of the robot tipping or not landing up-right, a
combination of thrusters and reaction wheels will correct the robot's attitude.
The AMIGO propulsion system utilizes sublimate-based micro-electromechanical
systems (MEMS) technology as a means of lightweight, low-thrust ballistic
hopping and coarse attitude control. Each deployed AMIGO will hop across the
surface of the asteroid multiple times.
