AbstractTo guarantee the safety of flight operations, decision-support systems for air traffic control must be able to improve the usage of airspace capacity and handle increasing demand. This study addresses the aircraft conflict avoidance and trajectory recovery problem. The problem of finding the least deviation conflict-free aircraft trajectories that guarantee the return to a target waypoint is highly complex due to the nature of the nonlinear trajectories that are sought. We present a two-stage iterative algorithm that first solves initial conflicts by manipulating their speed and heading control and then identifying each aircraft’s optimal time to recover its trajectory towards their nominal one. We extend existing mixed-integer programming formulations by modelling speed and heading control as continuous variables while recovery time is treated as a discrete variable. We develop a novel iterative approach which shows that the trajectory recovery costs can be anticipated by inducing avoidance trajectories with higher deviation, therefore obtaining earlier recovery time within a few iterations. Numerical results on benchmark conflict resolution problems show that this approach can solve instances with up to 30 aircraft within 10 min.