In Phase I of this project, SSCI carried out initial development of the Generalized Guidance, Navigation & Control Architecture for Reusable Development (GUARD). The resulting framework is applicable across different Autonomous Rendezvous and Docking (AR&D) domains, and enables further development and testing of reusable GN&C software for such applications. GUARD is based on the key functional requirements for GN&C software for AR&D, with special emphasis on the commonality across different domains of operation and unique implementation requirements for GN&C algorithms in such domains. Phase I accomplishments include: (i) Augmented the flight-test proven on-line trajectory optimization and control algorithm with a Fault Detection, Identification and Accommodation (FDIA) capability, (ii) Extended SSCI's Vision Based Navigation (VBN) algorithms, recently demonstrated for shipboard landing flight experiments, to achieve centimeter-level positioning accuracy for the AR&D implementations, and demonstrated its robustness to docking pattern variations; (iii) Carried out a detailed study of common GN&C functions for AR&D, and developed a conceptual solution for a user interface enabling agile reconfiguration of domain-specific information; and (iv) Carried out initial analysis of System-level Performance Metrics for AR&D missions to facilitate V&V of the overall integrated GN&C system. Phase II will demonstrate an enhanced prototype of the GUARD with integrated GNC/FDIA/VBN software that will make it reusable in three disparate AR&D system domains. Demonstrations will be in simulation and hardware tests as follows: orbital AR&D (in simulation), planetary rover docking with a habitat (evaluations at Olin College on R-Gator platform), and a quadrotor close-proximity operation mission (evaluations at UT Austin on quadrotor platform). Phase III will focus on commercialization of the GUARD software and its implementation to future NASA Space Exploration missions.