To optimize the potential function for faster convergence while maintaining safety guarantees, several strategies can be implemented. One approach is to fine-tune the parameters in the potential function, such as adjusting the scaling constants 𝜆𝑖, 𝜂𝑖, and Δ𝑖 to influence the balance between attractive and repulsive forces. By optimizing these parameters, the potential function can be tailored to encourage quicker convergence towards the target while still ensuring inter-agent safety. Additionally, incorporating adaptive algorithms or machine learning techniques to dynamically adjust the potential function based on real-time feedback can enhance the convergence speed. This adaptive optimization can help the pursuers navigate more efficiently towards the target while avoiding collisions with neighboring agents.