  Space debris is on the rise due to the increasing demand for spacecraft for
com-munication, navigation, and other applications. The Space Surveillance
Network (SSN) tracks over 27,000 large pieces of debris and estimates the
number of small, un-trackable fragments at over 1,00,000. To control the growth
of debris, the for-mation of further debris must be reduced. Some solutions
include deorbiting larger non-cooperative resident space objects (RSOs) or
servicing satellites in or-bit. Both require rendezvous with RSOs, and the
scale of the problem calls for autonomous missions. This paper introduces the
Multipurpose Autonomous Ren-dezvous Vision-Integrated Navigation system
(MARVIN) developed and tested at the ORION Facility at Florida Institution of
Technology. MARVIN consists of two sub-systems: a machine vision-aided
navigation system and an artificial po-tential field (APF) guidance algorithm
which work together to command a swarm of chasers to safely rendezvous with the
RSO. We present the MARVIN architec-ture and hardware-in-the-loop experiments
demonstrating autonomous, collabo-rative swarm satellite operations
successfully guiding three drones to rendezvous with a physical mockup of a
non-cooperative satellite in motion.
