Thankyou. From an initial examination, the implementation looks to be very complex...a detailed composite of many smaller parts.

I found a demo in the distribution and ran it 3 or 4 times.
Are the bots supposed to get stuck and clump together?
The bots were animating a "walk" cycle, apparently trying to move, but making no progress because other bots were obstructing movement (were in the way).
In the image below, there are 3 bots in a clump. Evidently, the first person view represents the view of a 3rd bot also in a "stuck" state.
Bot 1 is barely visible and is directly behind bot 2 in the image.