Abstract: Systems and methods include determining a collision probability between a first spacecraft and a second spacecraft; responsive to a determination that the collision probability exceeds a threshold, identifying a plane that is orthogonal to a relative velocity between the first spacecraft and the second spacecraft; determining a boundary on the plane that, when intersected by the first spacecraft, reduces the collision probability to a threshold level; selecting a first test point along the boundary and a second test point along the boundary; determining a first cost associated with maneuvering the first spacecraft towards the first test point and a second cost associated with maneuvering the first spacecraft towards the second test point, the first cost and the second cost based on one or more user-defined parameters; and maneuvering the first spacecraft toward a target point along the boundary that is determined based on the first cost and the second cost.