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I once wrote a short story about this.
My goal was to mine the asteroids for highly valuable minerals, but it could be adapted for this.
In the story, I had deployed thousands of spider like satellites. Eight legs which are used for securing the vehicles to the rocks, and on the back was a large rocket booster. The spiders encircle an asteroid or meteor etc, and attached themselves. Once fully covered, you can slowly move the rock by using the thrusters.
Of course many of the asteroids are just too massive and cant be moved.
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