I. Introduction
Originally conceived as educational tools, CubeSats were used by universities to provide project-based learning programs for engineering students to gain experience in system engineering [3]–[7]. Recently, interest in these platforms has greatly expanded due to their reduced size, development costs and construction times compared to large satellite platforms currently in polar or geostationary orbit [4] , [6], [7]. For example, companies such as Spire has launched a network of CubeSats for weather forecasting and commercial vessel tracking [8] and Planet Labs is using CubeSats for earth imaging [9]. In addition, government agencies including NOAA and NASA also have started to explore the utility of CubeSats for a variety of other remote sensing missions [1] , [10]–[12].