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Small satellite constellations in multiple-inclination, low-circular orbits around Mars and Venus have the potential to perform a range of high-value science investigations within cost-constrained missions. A major challenge for small satellites is that they require large <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>Δ</mo><mi>V</mi></mrow></semantics></math></inline-formula> to enter low-circular orbits, which can drive up both spacecraft mass and cost. Compared to chemical propulsion, which requires large amounts of propellant, and electric propulsion, which requires large solar arrays and comes with long flight times, aerocapture enables direct access to low-circular orbits at Mars and Venus with minimal <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>Δ</mo><mi>V</mi></mrow></semantics></math></inline-formula>. The study shows how drag-modulation aerocapture, when combined with small B-plane targeting maneuvers, allows the delivery of multiple small satellites to various-inclination, low-circular orbits to establish a constellation. Preliminary cost estimates indicate that by reducing the required <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>Δ</mo><mi>V</mi></mrow></semantics></math></inline-formula> for orbit insertion, aerocapture can potentially reduce the cost of a small satellite going to a low-circular Mars orbit compared to propulsive insertion. The ability of low-cost spacecraft to enter planetary orbits will enable a new paradigm of interplanetary missions using small dedicated launch vehicles and planetary constellations at Mars and Venus.