In this paper, we describe a framework for the autonomous capture and
servicing of satellites. The work is based on laboratory experiments
that illustrate the autonomy and remote-operation aspects. The
satellite-capture problem is representative of most on-orbit robotic
manipulation tasks where the environment is known and structured, but
it is dynamic since the satellite to be captured is in free
flight. Bandwidth limitations and communication dropouts dominate the
quality of the communication link. The  satellite-servicing scenario
is implemented on a robotic test-bed in laboratory settings.