To ensure safe execution of the multi-vehicle missions, the cooperative control framework incorporates collision-avoidance methods that rely on practicably available obstacle information and ensure safe operation without compromising on the mission objectives. If feasible, the framework allows collision-avoidance without requiring vehicles to deviate from their initially planned path. Utilizing appropriately designed control laws, the framework commands the speeds of all vehicles such that they not only maintain coordination but also avoid collisions while sharing minimal information through the communication network. For scenarios where speed variation is not a feasible option for safe operations, the framework incorporates trajectory replanning algorithms that each vehicle may utilize to avoid collisions. Using Bézier curves and surfaces, these algorithms have the ability to use partial information about the obstacle’s trajectory, avoid any possible collisions, and satisfy vehicle dynamic constraints over continuous trajectories.