1. A method of determining a collision avoidance maneuver, comprising: obtaining initial state data including initial state data for a first object and a second object; generating a plurality of preliminary maneuvers satisfying a first set of constraints using the initial state data; selecting a best preliminary maneuver from the plurality of preliminary maneuvers; and optimizing the best preliminary maneuver according to an objective function to provide a final maneuver, the optimization adhering to a provided second set of constraints.