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We investigate a Cucker-Smale-type flocking model for multi-agent systemsthat move with constant speed. The model incorporates both kinematicobservables and internal energy (temperatures) in the agents' interactions.Traditionally, collision avoidance in the absence of speed limitation isachieved by introducing singularities into the communication rule. However,when a unit speed constraint is applied, the mechanism of collision avoidancecan differ, and the singularity may not necessarily prevent collisions. In thispaper, we propose a framework that generates collision avoidance, asymptoticflocking, thermal equilibrium, and strict spacing between agents, subject tosufficient conditions expressed by the initial condition, system parameters,and degree of singularity.

Thermodynamic Cucker-Smale ensemble with unit speed and its sufficient framework for collision avoidance