Simulation of Energy charging in swarm robotics

The project require a simulation in player/stage of swarm robots. While a group of 7 or more swarm robots are working on a foraging task, if one of these robots has a low energy level and requires a recharge, it will send a signal to a "Battery Robot". Battery robot is similar to the robots performing the foraging task, except it has a large battery, and its job is to find the place of the robot requesting a recharge and charge it. At all time, the battery robots stay at a near by power station, where they are connected to it at all time, and leave the power station when it receives a signal from a robot doing the foraging task asking for a recharge, so the battery robot will find that robot with low energy, charge it, and go back to the near by power station.