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Saw an interesting article about little autonomous "sweeper" robots that they are working on for this. They carry packs of small "parachutes" just a foot or two across. They seek out debris and sneak over and attach one or more little parachute onto it. The solar winds slow the junk down over a number of weeks enough that it eventually falls out of orbit. When they run out of chutes the robots will then fly home to the IIS for a refill on their parachutes and are sent back out again to keep up the good work. Not in space yet but I think it is a great idea.