A main objective of this work is to assess the feasibility of space missions to a new population of near Earth asteroids which temporarily orbit Earth, called temporarily captured orbiter. We design rendezvous missions to a large random sample from a database of over 16,000 simulated temporarily captured orbiters using an indirect method based on the maximum principle. The main contribution of this paper is the development of techniques to overcome the difficulty in initializing the algorithm with the construction of the so-called cloud of extremals.