Teaming with Texas A&Ms Land, Air and Space Robotics (LASR) laboratory, BlackSky propose a novel technology called the On-Orbit Rendezvous, Inspection & Debris Removal (O-RIDR) system to de-orbit large rocket bodies using advances in automation technologies. Using BlackSkys on-orbit non-Earth imaging (NEI) sensors for the identification of the debris object, the mission planner commands a satellite from BlackSkys Low Earth Orbit (LEO) constellation to rendezvous and maneuver to a safe stand-off position to launch a self-contained module that anchors itself to the debris object and deploys a high area to mass ratio (HAMR) drag enhancement device to provide an End-Of-Life Servicing (EOLS) solution to deorbit the debris object. In addition to the O-RIDR concept development, Phase I work will include design and critical subsystem testing of component technologies that enable the sensing, inspection, characterization, and approach planning in the proximity of the debris object. The work will also include testing the capture, control, and safe de-orbit planning and the phased execution of the EOLS technology. A technology demonstration mission plan will be developed for on-orbit demonstration of the key components of the O-RIDR system in the SPACEWERX Phase II STTR program.