1. A method of forming a treatment plan for treating a patient with radiation therapy, the method comprising: receiving information corresponding to a tumor position in the patient determined using an imaging device; selecting a plurality of beam angles for a respective plurality of beams based on the tumor position; receiving information corresponding to a plurality of constrained and unconstrained objective function parameters related to at least one of a minimum and maximum radiation dosage to a specific region of interest; selecting an intensity for each beam based, in part, on the objective function parameters; selecting new unconstrained objective function parameters based, in part, on the previous unconstrained objective function parameters; and selecting new beam intensities based, in part, on the new unconstrained objective function parameters.