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Dynamic Simulation in Gazebo Question

Hello guys, I'm master's student majoring in mechanical engineering.

So far, I have conducted simulations in which a single object(Iris Drone) avoids a particular stationary objects(Trees). This Simulation was performed by linking Gazebo, Rviz and QGroundControl(PX4). Currently using Gazebo 9, Ubuntu 18.04. image description

The Collision Avoidance algorithm used what was built into the QGC.

image description

I want to proceed with a multi-vehicle simulation that generates own path which change with time when moving obstacle comes out. Also, if the collision avoidance algorithm can be changed, I would like to customize it.

I tried Googling, but it wasn't easy to find. If you have a similar tutorial in this regard, I would appreciate it if you could recommend it. If you know anything about this simulation, please let me know in the comments.

Thank you in advance for your help!