Mass AI - issues with self-assembly programming (anemone/hoopsnake; kangaroo; firefly)

Hi all,

This is better in scripting im sure, but my lack of knowledge and enthusiasm for grasshopper keeps me trying to get it all working here.

Basically, I have written definitions to control a robot (via firefly) to move itself around following a point. Now i am working on what happens when there are a thousand robots together - how do they self assemble? self organise?

so far what I am doing is using the vertices as points to for the robot to climb on. It is very easy for example to have one robot climb over 1000 static robots. the major issues are getting 1000 robots to climb over each other without pre-defining all their paths. 

any recommendations?