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arXiv · 2609.26593

Decentralized Guidance and Control for Rendezvous and Docking with a Tumbling Target using Multiple Servicers

Jonathan Taylor Jönsson·Sathyanarayanan Seshasayanan·Sumeet Gajanan Satpute·George Nikolakopoulos
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Abstract

The growing trend of miniaturization in space, combined with an exponential increase in orbital debris, motivates a new operational paradigm, that is the deployment of multiple small servicers to collectively rendezvous, dock and service large tumbling targets. A single small spacecraft is often limited in thrust or reach for such targets, yet coordinating multiple autonomous spacecraft safely in close proximity remains an open challenge. This paper presents a proof-of-concept decentralized 6-DOF model predictive control (MPC) framework for multiple servicers to safely rendezvous and dock (RVD) to a tumbling target with no knowledge about each others predicted input over the prediction horizon. The proposed framework enforces soft docking conditions, inter-servicer collision avoidance, and obstacle avoidance through embedded constraints, while remaining computationally tractable via a linear time-invariant (LTI) formulation. Validation in MATLAB with three servicers and fixed obstacle arrangements confirms that all constraints are satisfied and successful docking is achieved.

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Jonathan Taylor Jönsson, Sathyanarayanan Seshasayanan, Sumeet Gajanan Satpute, George Nikolakopoulos. 2026-09-22. Decentralized Guidance and Control for Rendezvous and Docking with a Tumbling Target using Multiple Servicers. https://arxiv.org/abs/2609.26593

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