Routing in the Space Internet: A contact graph routing tutorial

A Space Internet is possible, as long as the delay and disruption challenges imposed by the space environment are properly tackled. Because these conditions are not well addressed by terrestrial Internet, more capable Delay-Tolerant Networking (DTN) protocols and algorithms are being developed. In particular, the principles and techniques for routing among ground elements and spacecraft in near-Earth orbit and deep-space are enacted in the Contact Graph Routing (CGR) framework. CGR blends a set of non-trivial algorithm adaptations, space operations concepts, time-dynamic scheduling, and specific graph models. The complexity of that framework suggests a need for a focused discussion to facilitate its direct and correct apprehension. To this end, we present an in-depth tutorial that collects and organizes first-hand experience on researching, developing, implementing, and standardizing CGR. Content is laid out in a structure that considers the planning, route search and management, and forwarding phases bridging ground and space domains. We rely on intuitive graphical examples, supporting code material, and references to flight-grade CGR implementations details where pertinent. We hope this tutorial will serve as a valuable resource for engineers and that researchers can also apply the insights presented here to topics in DTN research.