Collision Avoiding Swarm Robot

Armed with 7 ultrasonic sensors, 1 servo motor, 2 DC motors and 1 Pixy2, Powered by Arduino Mega. Entirely 3D Printable with Prusa i3 MK3 3D printer (Base will need a lot of support material, might update in future). Function of robot is to detect certain colored puck using Pixy2, navigate to the puck, all the while avoiding collision with other robots or walls. Once reached to the puck, grab it using servo actuated red gripper/gate and navigate to home base of different color and drop off said puck on the home base, and repeat.