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This paper presents a novel methodology to control spacecraft swarms aboutsingleasteroids with arbitrary gravitational potential coefficients. Thisapproach enablesthe use of small, autonomous swarm spacecraft in conjunctionwith a mothership,reducing the need for the Deep Space Network and increasingsafety in future as-teroid missions. The methodology is informed by asemi-analytical model for thespacecraft absolute and relative motion thatincludes relevant gravitational effectswithout assuming J2-dominance as well assolar radiation pressure. The dynamicsmodel is exploited in an Extended KalmanFilter (EKF) to produce an osculating-to-mean relative orbital element (ROE)conversion that is asteroid agnostic. Theresulting real-time relative meanstate estimate is utilized in the formation-keepingcontrol algorithm. Thecontrol problem is cast in mean relative orbital elements toleverage thegeometric insight of secular and long-period effects in the definitionofcontrol windows for swarm maintenance. Analytical constraints thatensurecollision avoidance and enforce swarm geometry are derived and enforcedin ROEspace. The proposed swarm-keeping algorithms are tested and validated inhigh-fidelity simulations for a reference asteroid mission.

Spacecraft Swarm Dynamics and Control About Asteroids