Small and very capable satellites are becoming an attractive option for future space missions by reducing the cost, decreasing the risk and improving flexibility. Small satellites can also be used as building blocks of large space structures such as solar panels or space telescopes. This work is focused on the development of a position and attitude GNC framework for docking multiple small satellites in a cooperative manner using the Comprehensive Open-architecture Solution for Mission Operations Systems (COSMOS) developed at the Hawaii Space Flight Laboratory. We introduce a 6DoF guidance law for position and attitude that optimizes fuel consumption and use the COSMOS software agents to bundle individual satellite dynamics for a realistic simulation. By using the COSMOS agents each satellite can broadcast its information to the network making it available to all other satellites. An important outcome of this work is the development of the flight-like software that can be used in real time simulation environments and for mission rehearsals.