  This paper presents a novel hybrid control protocol for de-conflicting
multiple vehicles with constraints on control inputs. We consider turning rate
and linear speed constraints to represent fixed-wing or car-like vehicles. A
set of state-feedback controllers along with a state-dependent switching logic
are synthesized in a hybrid system to generate collision-free trajectories that
converge to the desired destinations of the vehicles. The switching law is
designed so that the safety can be guaranteed while no Zeno behavior can occur.
A novel temporary goal assignment technique is also designed to guarantee
convergence. We analyze the individual modes for safety and the closed-loop
hybrid system for convergence. The theoretical developments are demonstrated
via simulation results.
