Phase-Gated Constrained Reinforcement Learning for End-to-End Capture and Detumbling of Non-Cooperative Targets

Active debris removal requires a servicer spacecraft to approach a non-cooperative tumbling object, capture it, and arrest its rotation. This sequence is conventionally divided among phase-specific controllers, each depending on knowledge of the target's inertia, a dedicated grappling fixture, or a hand-designed switch at the contact-rich seam where such pipelines are most fragile.

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