Under the original Artemis architecture, NASA planned on multiple versions of the SLS rocket, ranging from the "Block 1" vehicle currently in use to a more powerful EUS-equipped Block 1B and eventually an even bigger Block 2 model using advanced solid rocket boosters. The latter two versions required use of a taller mobile launch gantry, already well under construction at the Kennedy Space Center.
Shortcut Pre-calculation: For the most commonly used speed profiles, the travel costs (time/distance) for shortcuts between border points within each cluster are pre-calculated and stored. (Each border point effectively has an "entry" and "exit" aspect for directed travel).
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Thanking the astronauts for their resilience and flexibility, he said SpaceX had been a "great partner".
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