A method includes determining a convergence point for a first object and a second object from position data, capability data, and environment data that are all associated with the first and second object, wherein the convergence point is determined in accordance with a policy. The method also includes determining a first amount of time for the first object to reach the convergence point based on the position data, the capability data, and the environment data. The method still further includes determining a second amount of time for the second object to reach the convergence point based on the position data, the capability data, and the environment data. The method additionally includes determining an estimated amount of time to convergence between the first object and the second object, and transmitting the estimated amount of time to convergence to one or more of the first and second object.