NASA is researching advanced technologies for future exploration missions using intelligent swarms of robotic vehicles. One of these missions is the Autonomous Nano Technology Swarm (ANTS) mission that will explore the asteroid belt using 1,000 cooperative autonomous spacecraft.From the engineering point of view, the complexity of this kind of systems is one of the main challenges that has to be overcame, since it makes the behavior of the swarm unpredictable. In NASA, many approaches are being explored towards this goal, mainly, a tailored software engineering approach for this kind of systems, called agent-oriented software engineering, and formal methods. In this paper, we report on the main advances we have done towards modelling, implementing, and testing NASA swarms-based concept missions.