How NASA Steers the Int'l Space Station Around Asteroids & Other Debris

I might actually be trivial with practice, which is also (as you pointed out) not surprising. None of this is very surprising.

I'm guessing if you wanted to add a visiting vehicle's thrust, you'd first have to re-calculate the center of mass given the attached vehicle, and then calculate how much thrust -- and in what direction -- from that vehicle will produce what angles of rotation around which axes.

Not that I could do it all, but I think I might be close, and I can imagine the calculations that go into i

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