This　paper　addresses　the　trajectory　planning　and　control　problem　of　multi-spacecraft　formation　reconstruction　in　the　presence　of　obstacles.　By　expressing　spacecraft　dynamics　relative　to　a　leader　spacecraft　in　the　formation,　an　integrated　planning　and　control　approach　named　predictive　null-space-based　behavior　control　(PNSBC)　is　proposed.　First,　a　planner　using　null-space-based　behavior　control　(NSBC)　is　designed　at　an　upper　layer　to　resolve　multi-task　conflicts.　Here,　both　global　tasks,　e.g.　formation　keeping,　and　local　tasks,　e.g.　obstacle　avoidance,　are　considered.　Second,　a　tracking　controller　is　designed　at　the　bottom　layer　using　decentralized　model　predictive　control.　Unlike　traditional　two-layer　approaches　that　treat　planning　and　control　separately,　the　proposed　PNSBC　integrates　the　planning　and　control　in　two　ways:　1)　the　planner　provides　reference　trajectories　for　the　controller　to　track;　2)　the　model　predictive　control　(MPC)　controller　provides　predicted　trajectories　that　can　be　employed　by　the　planner　for　future　task　priority　predictions,　which　extends　the　capability　of　NSBC　from　one-step　planning　to　multi-step　predicting.　In　addition,　the　computational　burden　of　the　MPC　controller　is　greatly　reduced　by　putting　the　nonlinear　obstacle　avoidance　constraints　into　the　planner　as　a　local　task.　Simulation　results　show　that　such　integrated　approach　has　better　performance　in　terms　of　safety　constraint　guarantee,　fuel　consumption　and　travel　distance　when　compared　against　traditional　non-integrated　approaches,　or　all-in-one　MPC　methods,　while　constraints　and　task　objectives　are　fully　satisfied.　©　2023　COSPAR