assign geometry and collision avoidance on swarm particles

Hey guys!

Here is my problem. In the attached swarm particles GH file you will find the releant configuration for flocking behavior. The thing is that the code is generating 3dpoints instead of actual rhino geometry.

Is it possible to rearrange the code in order to "attach" (cylindrical or box) geometry to these particles and then add something like a "collision detector" in order to avoid the intersections between the generated volumes? I want (when they are as close as they can) to act as one maze, one geometry, meaning that they should somehow be "attached to one another (but again, not intersecting).

ANY kind of help would be much appreciated! Thanks in advance!