This paper presents a decentralized optimal guidance and control scheme to combine a heterogeneous swarm of component satellites, rods and connectors, into a large satellite structure. By expanding prior work on a decentralized auction algorithm with model predictive control using sequential convex programming (MPC-SCP) to allow for the limited type heterogeneity and docking ability required for in-orbit assembly. The assignment is performed using a distributed auction with a variable number of targets and strict bonding rules to address the heterogeneity. MPC-SCP is used to generate the collision-free trajectories, with modifications to the constraints to allow docking
