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We investigate the concurrent problem of orbit design and formation control around a libration point. The problem formulation is based on a framework of multi-agent, nonlinear optimal control. The optimality criterion is fuel consumption modeled as the L 1 -norm of the control acceleration. Fuel budgets are allocated by isoperimetric constraints. The nonsmooth optimal control problem is discretized using DIDO, a software package that implements the Legendre pseudospectral method. Thedoi:10.2514/1.18654 fatcat:n2ylidvjdzfbbm7db36kxto4z4