Most deflection efforts for a large object require from a year to decades of warning, allowing time to prepare and carry out a collision avoidance project, as no known planetary defense hardware has yet been developed. It has been estimated that a velocity change of just (where t is the number of years until potential impact) is needed to successfully deflect a body on a direct collision trajectory. In addition, under certain circumstances, much smaller velocity changes are needed. For example, it was estimated there was a high chance of 99942 Apophis swinging by Earth in 2029 with a 10−4 probability of passing through a 'keyhole' and returning on an impact trajectory in 2035 or 2036. It was then determined that a deflection from this potential return trajectory, several years before the swing-by, could be achieved with a velocity change on the order of 10−6 ms−1.