<p>The present study investigates optimal spacecraft reconfiguration and formation control for asteroid deflection using gravity traction on single and multiple optimized Halo orbits. The proposed approach utilizes a gravity traction technique, leveraging single and multiple optimized Halo orbits as its core methodology. The pseudo-spectral method is employed to derive optimal trajectories to establish Halo orbits above the asteroid, while a robust continuous optimal Linear Quadratic Regulator approach is used to execute the gravity traction process. The research introduces two key innovations including the application of the pseudo-spectral method for Gravity Tractor missions and the investigation of optimal orientation of Halo orbits to maximize asteroid deflection. The study also explores the capability of utilizing multiple Halo orbits for enhanced asteroid deflection and addresses the problem of optimal path planning for spacecraft to reach their intended Halo orbits with optimized fuel consumption. A critical aspect of the formation reconfiguration phase is the simultaneous insertion of agent spacecraft into their respective Halo orbits, establishing the desired formation geometry. The proposed methodology is verified through comparisons with robust controllers, demonstrating its advantages in terms of lower fuel consumption while removing the need for linearization and Jacobian computations. The formation keeping strategy is also investigated, showing sufficient robustness against measurement system noise and disturbances. The proposed methodology is successfully applied to the Apophis asteroid, demonstrating its efficacy for impact avoidance while observing implementation issues via PWPF modulation. The fuel consumption for the entire mission is also analyzed, providing valuable insights into the feasibility and efficiency of the proposed approach.</p>