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Agena was an unmanned target vehicle with which NASA in the mid-1960s evaluated approach and rendezvous manoeuvres deemed necessary for a Moon landing during its Gemini programme. A typical mission consisted of the steps:
You will find more information on NASA's Technical Report Server: Shuttle/Agena Study (PDF).
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All images are courtesy of NASA, are subject to its image policy, and have been taken from http://grin.hq.nasa.gov.