  Reliability is a critical aspect of multi-agent system coordination as it
ensures that the system functions correctly and consistently. If one agent in
the system fails or behaves unexpectedly, it can negatively impact the
performance and effectiveness of the entire system. Therefore, it is important
to design and implement multi-agent systems with a high level of reliability to
ensure that they can operate safely and move smoothly in the presence of
unforeseen agent failure or lack of communication with some agent teams moving
in a shared motion space. This paper presents a novel fluid flow navigation
model that, in an ideal fluid flow, divides agents into cooperative
(non-singular) and noncooperative (singular) agents, with cooperative agents
sliding along streamlines safely enclosing noncooperative agents in a shared
motion space. A series of flight experiments utilizing crazyflie quadcopters
will experimentally validate the suggested model.
