A system for controlling an operation of a vehicle in real time to rendezvous the vehicle with a target over a finite time horizon, the system comprising a transceiver configured to accept data in real time including values of vehicle states and target states in a multi object celestial system, and the data including a predetermined subset of a number of operational thrusters that is less than a total number of operational thrusters of the vehicle, at a specified time period within the finite time horizon, the system comprising a controller having: a memory having unsafe regions; and a processor configured, at the specified time period, to: identify a target orbit location from the accepted data in real time, access the memory, to select a set of unsafe regions corresponding to the target orbit location and the predetermined subset of the number of operational thrusters of the vehicle, and wherein the set of unsafe regions represents regions of space around the target in which any operation of the predetermined subset of the number of operational thrusters does not avoid collision with the target, guaranteeing collision trajectories with the target; formulate the set of unsafe regions as safety constraints, and update the controller having a model of dynamics of the vehicle with the accepted data; generate control commands by subjecting the updated controller to the safety constraints to produce a rendezvous trajectory that avoids the set of unsafe regions, guaranteeing an operation of at least the predetermined subset of the number of operational thrusters, that, in the event of partial vehicle thruster failure, results in a trajectory that does not collide with the target; and output the control commands to activate or not activate one or more thrusters of the vehicle for the specified time period based on the control commands, characterized in that the set of unsafe regions is determined by computing robust backwards reachable sets of a region around the target. a memory having unsafe regions; and a processor configured, at the specified time period, to: identify a target orbit location from the accepted data in real time, access the memory, to select a set of unsafe regions corresponding to the target orbit location and the predetermined subset of the number of operational thrusters of the vehicle, and wherein the set of unsafe regions represents regions of space around the target in which any operation of the predetermined subset of the number of operational thrusters does not avoid collision with the target, guaranteeing collision trajectories with the target; formulate the set of unsafe regions as safety constraints, and update the controller having a model of dynamics of the vehicle with the accepted data; generate control commands by subjecting the updated controller to the safety constraints to produce a rendezvous trajectory that avoids the set of unsafe regions, guaranteeing an operation of at least the predetermined subset of the number of operational thrusters, that, in the event of partial vehicle thruster failure, results in a trajectory that does not collide with the target; and output the control commands to activate or not activate one or more thrusters of the vehicle for the specified time period based on the control commands, characterized in that the set of unsafe regions is determined by computing robust backwards reachable sets of a region around the target. identify a target orbit location from the accepted data in real time, access the memory, to select a set of unsafe regions corresponding to the target orbit location and the predetermined subset of the number of operational thrusters of the vehicle, and wherein the set of unsafe regions represents regions of space around the target in which any operation of the predetermined subset of the number of operational thrusters does not avoid collision with the target, guaranteeing collision trajectories with the target; formulate the set of unsafe regions as safety constraints, and update the controller having a model of dynamics of the vehicle with the accepted data; generate control commands by subjecting the updated controller to the safety constraints to produce a rendezvous trajectory that avoids the set of unsafe regions, guaranteeing an operation of at least the predetermined subset of the number of operational thrusters, that, in the event of partial vehicle thruster failure, results in a trajectory that does not collide with the target; and output the control commands to activate or not activate one or more thrusters of the vehicle for the specified time period based on the control commands, characterized in that the set of unsafe regions is determined by computing robust backwards reachable sets of a region around the target.