Autonomous proximity operations are the future of Deep space robotic exploration for searchof life, mining for resources and to establish outposts. Part of that future depends on howwell the spacecraft is capable to navigate around the complex environment of the smallcelestial body. The shift from huge monolithic spacecraft to a lightweight distributed Spacesystems has opened up a new opportunity for early characterization and global mappingmissions around these bodies. This project aims to contribute to help solve a part of thedream, wherein multiple spacecrafts operate cooperatively in proximity of small celestialbodies. To that extent, a 6 DoF controlled software-in-loop simulation is performed withsimulated optical sensors and IMU on board the spacecraft for verification of the controlledcooperative operation of two spacecrafts in a Leader-Follower configuration.