text: #ifndef MULTIPLE_TURTLEBOTS_FIELD_H
  #define MULTIPLE_TURTLEBOTS_FIELD_H
  
  #include "classes.h"
  #include "partial_functions.h"
  #include "geometric_functions.h"
  
  double obstacleCollisionPotential(const Robot& position, const ObstacleGraph& detected_obstacles, const Variables& v);
  
  double interrobotCollisionPotential(const Robot& position, const RobotGraph& robots_near_preserved, const Variables& v);
  
  double LOSPreservePotential(const Robot& position, const RobotGraph& neighbourhood_robots,
                              const ObstacleGraph& detected_obstacle_graph_in_D_set, const Variables& v);
  
  double cohesionPotential(const Robot &position, const RobotGraph &detected_robots, const ObstacleGraph &detected_obstacles,
                    const Variables &v);
  
  double overallPotential(const Robot& position, const RobotGraph& detected_robots,
                          const ObstacleGraph& detected_obstacles, const Variables& v);
  
  #endif  // MULTIPLE_TURTLEBOTS_FIELD_H
  