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 previous unconstrained objective function parameters; and selecting new beam intensities based, in part, on the new unconstrained objective function parameters, wherein selecting new unconstrained objective function parameters comprises: calculating a value of a sub-objective function; comparing the value of the sub-objective function to a user-defined maximum sub-objective function value; and adjusting a value of an objective function parameter if the value of the sub-objective function is less than the user-defined maximum sub-objective function value.