Algorithm controlling a group of robots

Hello,

I am looking for someone who would be able to write a program in c \ c ++ \ java \ matlab or python that will reflect the algorithm for controlling a group of mobile robots that I will simulate in webots. Robots must perform some simple task, e.g. to reach a given point, the algorithm is to decide which robot is to perform the given task first and which one is to e.g. pass another robot when they encounter a narrow corridor or how to avoid it if they were on a collision route . I thought about using the algorithm from the publication "" ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation ".