Decentralized management of multiple objects?

Question

Qt

There is a tunnel in which various kinds of obstacles appear (the letters G or just partitions, etc.).
There are also several objects that fly through this tunnel. The world itself obeys the simplest physics. The task is to write an algorithm for decentralized control of these objects to bypass obstacles.
What can I read about this and where can I see it?

Answer 1

Spectacular and simple - Boids.
Optimization - ant algorithm, swarm algorithm.
Exact mathematics - Werlet integration.

Answer 2

What does decentralized mean? What does Qt have to do with it?