The size distribution of kilometer-sized asteroids implies that the presently un-detected population of sub-kilometer asteroids far outnumber the known larger objects. Although small, sub-kilometer asteroids may provide unique insight into the evolution of the asteroid belt and the meteorite-asteroid connection. Small asteroids probably have fresh surfaces with minimal regolith cover thus presenting a clearer view of their internal structure. Streams of small asteroids connecting parent asteroids with resonances may provide insight into the transfer of material to the inner Solar System. We propose a space mission to detect and study these objects. A key feature of the mission is full onboard autonomy of both object detection and tracking, thus reducing the cost of running the mission to a minimum, while enabling science to focus on the main objectives.