Dshell-DARTS: A Reusability-Focused Multi-Mission Aerospace and Robotics Simulation Toolkit

The Dshell-DARTS framework is a versatile simulation toolkit designed for aerospace and robotics applications. Developed at NASA's Jet Propulsion Laboratory (JPL), it supports high-fidelity simulations for a wide range of systems, including interplanetary, orbital, atmospheric, and surface vehicles, as well as robotic platforms. Dshell-DARTS integrates key capabilities in support of these simulations, such as rigid and flexible multi-body dynamics, sensor simulation, collision modeling, terramechanics computations, and gravity and atmospheric modeling. This paper outlines the challenges of developing a simulation framework capable of supporting such diverse domains and capabilities. Reusability is identified as a key feature in meeting these challenges, and some of the architectural choices adopted in Dshell-DARTS that enable and promote reusable capability development are explored. This reusability-focused architecture reduces the need for bespoke simulation creation, which accelerates development and testing, and enhances robustness. The Dshell-DARTS framework has been successfully used in numerous NASA missions, demonstrating its versatility in supporting complex and diverse mission requirements.