Online distributed multiagent with provable collision free guarantee (Part 1: feasible solution)

Each agent is a 9DOF, triple integrator with constraints on its velocity, acceleration, and jerk.
Online distributed multiagent with provable collision free guarantee (Part 1: feasible solution)
Online distributed multiagent with provable collision free guarantee (Part 1: feasible solution)
Online distributed multiagent with provable collision free guarantee (Part 1: feasible solution)

solution)