SSCI, in collaboration with University of Texas, Austin (UTA), proposes to develop, integrate, implement and test a novel framework for the design and performance evaluation of Guidance, Naviagation & Control algorithms for spacecraft Autonomous Rendezvous and Docking (AR\&D). The framework is referred to as the GUARD (GUidance, Navigation and Control for AR\&D), and will include a suite of advanced navigation, optimal trajectory generation, Failure Detection and Identification (FDI), and constrained adaptive fault-tolerant guidance and control algorithms that can be tailored to a specific AR&D mission and tested with respect to a given set of requirements and specifications. Specific Phase I tasks include: (i) Develop GN&C-oriented and high-fidelity dynamic models for AR&D; (ii) Develop Optimal AR&D Algorithms under non-convex constraints; (iii) Develop Constrained Control Algorithms; (iv) Integrate the G&C Algorithms with Vision-based Navigation Algorithm; and (v) Carry out initial simulation testing & performance evaluation. Phase II will be focused on further maturation of the approach, rigorous Verification and Validation of the overall GUARD system, and its implementation on an experimental test bed at UTA. Dr. Behcet Acikmese of UTA will be our subcontractor under the project.