Although it was several years ago; if my memory serves me correctly the JAXA Hayabusa mission used ion propulsion and autonomous navigation to intercept, pace, and land a piggyback probe on an asteroid in a high inclination orbit.
During the sample collection and departure from the asteroid a fuel leak caused loss of attitude control resulting in loss of high frequency communications.
Communications were reestablished using the low frequency antenna, and the Japanese engineers were able to bring it home using only two of the three ion impulse engines to maintain attitude and make course corrections.
As far as a "milestone" is concerned; that mission set the bar pretty high.
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"The greater danger for most of us lies not in setting our aim too high and falling short; but in setting our aim too low, and achieving our mark." -- Michelangelo
In doing so, its orbit will alter just slightly...
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"Did you get my e-mail?" - "The biggest problem in communication is the illusion that it has taken place" - George Bernard Shaw, 1856
space.com on a comet has ever been attempted. ESA's webcast starts at 2 p.m.probe on a comet has ever been attempted. ESA's webcast starts at 2 p.m. EST (1900 GMT) on Nov. 11.