Collision avoidance with obstacles in flocking for multi agent systems

Multi agent system is a system consist of multiple interacting agents. These systems tend to select the best solution for their problems. They can be used in different tasks which are hard for an individual or even a complex system to do. One of the most common algorithms which are used in multi agent systems is flocking. Here we introduce a theorem that multi agent systems could flock in environments with fixed obstacles without any collision between agents and obstacles. We use Lyapunov theory and prior algorithms on flocking to extract a theorem which under those conditions in the theorem, collision never occurs between agents and obstacles. Results show that the theorem insures collision avoidance between agents and obstacles.