Safe and Constrained Rendezvous, Proximity Operations, and Docking

This tutorial paper discusses the rising need for safe and constrained spacecraft Rendezvous, Proximity Operations, and Docking (RPOD). This class of problems brings with it i) a unique set of equations of motion, ii) a variety of constraints and objectives that are specialized to RPOD, and iii) a number of traditional and current Guidance, Navigation, and Control (GNC) considerations. There are strong connections between the work done in RPOD and a variety of other research domains that have synergistically aided in pushing forward the state-of-the-art. This tutorial paper discusses the above, provides an entry point into the field of spacecraft RPOD, and highlights a selection of open problems that still exist in the field.