A Decentralized Guaranteed Collision Avoidance Control Framework for Multi-Vehicle Systems in Highly Constrained Spaces Topics: Autonomous Agents; Distributed Control Systems; Guidance, Navigation and Control; Mobile Robots and Autonomous Systems; Vehicle Control Applications In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 229-236, 2024 , Porto, Portugal